Escolar Documentos
Profissional Documentos
Cultura Documentos
recalibrate all
Recalibrate the entire library.
reserved print
Show the library's current reserved cell count.
reserved <number of cells>
Set the maximum number of reserved(playground) library storage cells
in the library.
resetdefaults
Reset library defaults: admin password='', CAPs = I/O,
barcode is 6 characters (left6) left aligned for host,
barcode is 8 characters (left8) left aligned for oppanel,
reserved slots = 0, inventory mode is labels required,
service inventory set to off.
resetoppanel
Cause a hard Op Panel reset to occur.
resetpw <admin> | <oem> | <service> | <oppanel> | <all>
Places the specified login password back to the -needs activatedstate. This is used to recover forgotten passwords.
scanaudit print
Show the library's current 'scanaudit' option setting
scanaudit <on|off>
Set the 'scanaudit on/off' option.
This option controls whether or not the library performs a scanning audit.
Setting option to 'on' will casue scanning audits. This is the default.
Setting option to 'off' will disable scanning audits.
Hard to read labels are more difficult to read with scanning audit,
but it is faster than reading each individual location.
serviceinfo clear
WARNING: Clears ALL service contact information.
serviceinfo print
Display service contact information.
serviceinfo set contact '<contactString>' |
streetAddr '<streetAddrString>' |
city '<cityString>' |
state '<stateString>' |
country '<countryString>' |
zip '<zipString>' |
description '<locationString>' |
phone '<phoneString>' |
pager '<pagerString>' |
email '<emailString>' |
assetnumber '<assetNumString>' |
Sets the service contact information, library location
information, library assetnumber, and library location
description
session timeout <minutes>
Sets the timeout of this session. If no characters are typed
within this time frame, the user is logged off.
shutdown
Orderly shutdown of library
snmp addTrapRecipient
trapLevel <trapLevelString>
host <hostName | hostAddr>
version <v2c community <communityString>
|
v3 name <trapUserName>
auth <MD5 | SHA>
authPass <authPassPhrase>
2011-01-03T03:03:12.583,
0.0.9.0.2, 506,
robot, /usr/local/bin/I
fm, error, 0000, 5069, "Director - putResponse() servo mech reach event 5069 at
4576 tachs, 4212 mils"
2011-01-03T03:03:12.639,
0.0.0.0.0, 3202,
ifm,
, error, 3000, 3313, "(request id = HOST/0x101e2df8) IfmMove::doPut(): move ba
ck to source from (LMRC) 0,1,2,9 failed, going inop by default"
2011-01-03T03:03:12.942,
0.0.0.0.0, 3202,
ifm,
, error, 3000, 3313, "(request id = HOST/0x101e2df8) IfmMove::commonMoveComman
d(): PUT request of tape 000146L3 from (LMRC) 0,1,1,2 to (LMRC) 0,1,2,9 failed:"
2011-01-03T17:31:51.846,
0.0.0.1.0, 514,
robot, /usr/local/bin/I
fm, error, 0000, 0000, "Director - initResponse() DIRECTOR - failure setting ha
ndbot map Size: cfg_status = 8; Initialize: failure setting modules.; End of Tex
t"
2011-01-03T17:31:51.959,
0.0.0.0.0, 3202,
ifm,
, error, 0100, 3717, "IfmInitThread:Failure to Initialize...reason==Robot init
ialization failed - GOING INOP"
2011-01-03T17:37:44.660,
0.0.0.1.0, 514,
robot, /usr/local/bin/I
fm, error, 0000, 0000, "Director - initResponse() Initialize: Bad z range.; Ini
tialize: failed general init routine.; End of Text"
2011-01-03T17:37:44.737,
0.0.0.0.0, 3202,
ifm,
, error, 0100, 3717, "IfmInitThread:Failure to Initialize...reason==Robot init
ialization failed - GOING INOP"
2011-01-04T09:29:01.290,
0.0.0.1.0, 514,
robot, /usr/local/bin/I
fm, error, 0000, 0000, "Director - initResponse() Initialize: Bad z range.; Ini
tialize: failed general init routine.; End of Text"
2011-01-04T09:29:01.338,
0.0.0.0.0, 3202,
ifm,
, error, 0100, 3717, "IfmInitThread:Failure to Initialize...reason==Robot init
ialization failed - GOING INOP"
log_warning:
=======================
2010-11-25T13:47:45.445,
0.0.0.0.0, 000,
opel-server,
, warn, 0000, 0000, "rb_Reboot::reboot(): Resetting drive [0,1,1,9]"
2010-11-25T13:47:59.185,
0.0.0.0.0, 000,
opel-server,
, warn, 0000, 0000, "rb_Reboot::reboot(): Resetting drive [0,1,2,9]"
2010-11-25T13:48:12.773,
0.0.0.0.0, 000,
opel-server,
, warn, 0000, 0000, "rb_Reboot::reboot(): Calling sys_reboot()..."
2010-11-25T13:48:12.835,
0.0.0.0.0, 000,
sys,
, warn, 0000, 0000, "sys_reboot(): system reboot invoked. Calling reboot()..."
2010-11-25T13:52:23.117,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "No HW Config CAP label for Base unit, assuming LTO module
."
2010-11-26T09:14:48.260,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for z"
2010-11-26T09:16:07.649,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for z"
2010-11-26T09:16:31.343,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5051, "Asynchronous event for reach: Door Opened"
2010-11-26T09:23:25.143,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "No HW Config CAP label for Base unit, assuming LTO module
."
2010-12-03T09:21:05.089,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for z"
2010-12-03T09:21:27.590,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5051, "Asynchronous event for reach: Door Opened"
2010-12-03T09:29:50.907,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "No HW Config CAP label for Base unit, assuming LTO module
."
2010-12-10T08:55:46.600,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for z"
2010-12-10T08:55:53.778,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5051, "Asynchronous event for reach: Door Opened"
2010-12-10T09:01:25.946,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "No HW Config CAP label for Base unit, assuming LTO module
."
2010-12-17T09:10:38.469,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for z"
2010-12-17T09:10:46.498,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5051, "Asynchronous event for reach: Door Opened"
2010-12-17T09:25:52.067,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "No HW Config CAP label for Base unit, assuming LTO module
."
2010-12-21T14:05:32.992,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "CAP in module 1, shows closed after attempting to open"
2010-12-21T14:05:53.926,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "CAP in module 1, shows closed after attempting to open"
2010-12-21T14:06:13.466,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "CAP in module 1, shows closed after attempting to open"
2010-12-21T14:06:38.960,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for z"
2010-12-21T14:06:47.715,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5051, "Asynchronous event for reach: Door Opened"
2010-12-21T14:09:13.517,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "No HW Config CAP label for Base unit, assuming LTO module
."
2010-12-21T14:11:35.930,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for z"
2010-12-21T14:17:36.019,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "No HW Config CAP label for Base unit, assuming LTO module
."
2010-12-23T09:14:20.212,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for z"
2010-12-23T09:14:29.047,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5051, "Asynchronous event for reach: Door Opened"
2010-12-23T09:28:08.219,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "No HW Config CAP label for Base unit, assuming LTO module
."
2010-12-30T09:53:00.421,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for z"
2010-12-30T09:53:08.259,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5051, "Asynchronous event for reach: Door Opened"
2010-12-30T10:01:27.589,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "No HW Config CAP label for Base unit, assuming LTO module
."
2011-01-03T03:02:45.155,
0.0.9.0.2, 000,
robot-cmo,
, warn, 0000, 0000, "Performed put retry. Put retry total = 1. Address for thi
s retry (LMRC) 0,1,2,9"
2011-01-03T03:02:52.425,
0.0.9.0.2, 000,
robot-cmo,
, warn, 0000, 0000, "Performed put retry. Put retry total = 2. Address for thi
s retry (LMRC) 0,1,2,9"
2011-01-03T03:02:59.465,
0.0.9.0.2, 000,
robot-cmo,
, warn, 0000, 0000, "Performed put retry. Put retry total = 3. Address for thi
s retry (LMRC) 0,1,2,9"
2011-01-03T03:03:06.686,
0.0.9.0.2, 000,
robot-cmo,
, warn, 0000, 0000, "Performed put retry. Put retry total = 4. Address for thi
s retry (LMRC) 0,1,2,9"
2011-01-03T03:03:13.169,
0.0.0.0.0, 3202,
ifm,
, warn, 0000, 3305, "IFM drive event and the Library state is unknown."
2011-01-03T17:31:52.054,
0.0.0.0.0, 3202,
ifm,
, warn, 0000, 3305, "IFM drive event and the Library state is unknown."
2011-01-03T17:31:52.134,
0.0.0.0.0, 3202,
ifm,
, warn, 0000, 3305, "IFM drive event and the Library state is unknown."
2011-01-03T17:37:44.487,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for track"
2011-01-03T17:37:44.566,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for wrist"
2011-01-03T17:37:44.647,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for reach"
2011-01-03T17:37:44.824,
0.0.0.0.0, 3202,
ifm,
, warn, 0000, 3305, "IFM drive event and the Library state is unknown."
2011-01-03T17:37:44.844,
0.0.0.0.0, 3202,
ifm,
, warn, 0000, 3305, "IFM drive event and the Library state is unknown."
2011-01-04T09:29:01.120,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for track"
2011-01-04T09:29:01.199,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for wrist"
2011-01-04T09:29:01.277,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for reach"
2011-01-04T09:29:01.425,
0.0.0.0.0, 3202,
ifm,
, warn, 0000, 3305, "IFM drive event and the Library state is unknown."
2011-01-04T09:29:01.445,
0.0.0.0.0, 3202,
ifm,
, warn, 0000, 3305, "IFM drive event and the Library state is unknown."
2011-01-04T11:36:16.804,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5051, "Asynchronous event for reach: Door Opened"
2011-01-04T11:43:50.203,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "No HW Config CAP label for Base unit, assuming LTO module
."
log_info:
=======================
2011-01-04T11:43:57.083,
0.0.0.0.0, 000, Config-License,
, info, 0000, 0000, "Processing legacy licenses"
2011-01-04T11:43:57.134,
0.0.0.0.0, 000, Config-License,
, info, 0000, 0000, "License checking - LimitedBase exists: 99001"
2011-01-04T11:44:28.345,
0.0.1.0.1, 000,
robot, /usr/local/bin/D
irector, info, 0000, 0000, "targetValid(): Valid Run Length Exceeded, max = 19
, runLength = 27"
2011-01-04T11:44:28.612,
0.0.1.0.1, 000,
robot, /usr/local/bin/D
irector, info, 0000, 0000, "targetValid(): Valid Run Length Exceeded, max = 19
, runLength = 27"
2011-01-04T11:44:29.568,
0.0.1.0.1, 000,
robot, /usr/local/bin/D
irector, info, 0000, 0000, "targetValid(): Valid Run Length Exceeded, max = 19
, runLength = 29"
2011-01-04T11:44:43.555,
0.0.0.0.0, 001, sensor-manager,
, info, 0000, 0000, "SensorPowerFuncs: doPwrSupplyState - Module 1 Power Suppl
y 1 has become operational"
2011-01-04T11:44:43.732,
0.0.0.0.0, 000,
LibMD,
, info, 0000, 0000, "Service Beacon is DEACTIVATED: Current Health Event indic
ates Power Supply 01 in Module 01 is operational"
2011-01-04T11:44:48.884,
0.0.0.0.0, 001, sensor-manager,
, info, 0000, 0000, "SensorPowerFuncs: doPwrSupplyState - Module 1 Power Suppl
y 2 has become operational"
2011-01-04T11:44:49.008,
0.0.0.0.0, 000,
LibMD,
, info, 0000, 0000, "Service Beacon is DEACTIVATED: Current Health Event indic
ates Power Supply 02 in Module 01 is operational"
2011-01-04T11:44:53.393,
0.0.2.0.1, 000,
robot, /usr/local/bin/D
irector, info, 0000, 0000, "targetValid(): Valid Run Length Exceeded, max = 19
, runLength = 23"
2011-01-04T11:44:53.641,
0.0.2.0.1, 000,
robot, /usr/local/bin/D
irector, info, 0000, 0000, "targetValid(): Valid Run Length Exceeded, max = 19
, runLength = 23"
log_diagnostic:
=======================
log_config:
=======================
2011-01-04T11:41:47.064,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Code Version in flash: 1373 (6.53.00)"
2011-01-04T11:41:47.084,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Vendor type: STK"
2011-01-04T11:41:48.441,
0.0.0.0.0, 000,
OpPanel,
, config, 0000, 0000, "No LCD display present"
2011-01-04T11:41:59.954,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Scan firmware version is SXX_302I"
2011-01-04T11:42:02.847,
0.0.0.1.0, 000,
robot,
, config, 0000, 0000, "HW Rev in scanner is 003"
2011-01-04T11:43:56.789,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Module for cap info
1, 2, 3, 4, 5, 6"
2011-01-04T11:43:56.804,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Caps installed:
1, 0, 0, 0, 0, 0"
2011-01-04T11:43:56.824,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Cap configured as caps: 1, 0, 0, 0, 0, 0"
2011-01-04T11:43:57.027,
0.0.0.0.0, 000, Config-License,
, config, 0000, 0000, "The following Licenses are stored:"
2011-01-04T11:43:57.051,
0.0.0.0.0, 000, Config-License,
, config, 0000, 0000, "SL500_license_config_99001.lsf, filedate=2009-11-24 13:25
"
2011-01-04T11:43:57.181,
0.0.0.0.0, 000, Config-License,
, config, 0000, 0000, " License Sequence:99001 with Feature name:Capacity value:
LimitedBase assigned to module:1"
2011-01-04T11:43:58.870,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Cell restrictions in effect: max_cells=30"
2011-01-04T11:43:58.892,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Reserved cells in effect: reserved count=1"
2011-01-04T11:43:58.913,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Physical modules=1, key enabled modules=1"
2011-01-04T11:43:58.941,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Module 1: Base drive CAP last"
2011-01-04T11:43:59.144,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Partition not allowed at init."
2011-01-04T11:43:59.189,
0.0.0.0.0, 1000,
host,
, config, 1201, 0000, "Host Partitioning Selected"
2011-01-04T11:43:59.379,
0.0.0.0.0, 1000,
host,
, config, 1201, 0000, "Multiple LUN partition"
2011-01-04T11:44:02.095,
0.0.0.0.0, 1000,
scsi-engine,
, config, 1200, 0000, "FIBRE TRANSPORT LAYER for /dev/scsi_tgt0"
2011-01-04T11:44:02.372,
0.0.0.0.0, 1000,
scsi-engine,
, config, 1200, 0000, "Desired Fibre Settings for port 0: hard_addressing = 0,
loop_id = 0, node_wwn = 50:01:04:f0:00:8f:16:0f, port_wwn = 50:01:04:f0:00:8f:1
6:10"
2011-01-04T11:44:02.403,
0.0.0.0.0, 1000,
host,
, config, 1201, 0000, "Device 0 - 1 host port(s) detected"
2011-01-04T11:44:03.160,
0.0.0.0.0, 1000,
scsi-engine,
, config, 1200, 0000, "Current Fibre Settings for port 0: hard_addressing = 0,
loop_id = 255, node_wwn = 50:01:04:f0:00:8f:16:0f, port_wwn = 50:01:04:f0:00:8f:
16:10"
2011-01-04T11:44:15.673,
0.0.1.0.1, 000,
robot,
, config, 0000, 0000, "Setting Shutter Speed to: 200"
2011-01-04T11:44:17.790,
0.0.1.0.1, 000,
robot,
equence="1"><command>announcePresence</command><requestId>internalActivity</requ
estId><parms><deviceType>snmp</deviceType></parms></request>
2011-01-04T11:41:43.172948, VSnmpRelay, Main: Check for announcePresence
2011-01-04T11:41:43.173383, VSnmpRelay, Main: DCI announcePresence found
2011-01-04T11:41:43.173630, VSnmpRelay, VSnmpSocketDciFileDesc: = 6
2011-01-04T11:41:43.174137, VSnmpRelay, dci sequenceNumber: = 1
2011-01-04T11:41:43.175413, VSnmpRelay, dci response: = <response sequence="1"><
command>announcePresence</command></response>
2011-01-04T11:41:43.178108, VSnmpRelay, vsnmpRelaySocketMain: CLI CHECK ISSET
2011-01-04T11:41:43.178376, VSnmpRelay, vsnmpRelaySocketMain: DCI CHECK ISSET
2011-01-04T11:41:43.208385, tti-dbg-01, vttiTask: Started for Drive 1
2011-01-04T11:41:43.209371, tti-dbg-01, vttiTask: Waiting for Request
2011-01-04T11:41:43.214138, tti-dbg-02, vttiTask: Started for Drive 2
2011-01-04T11:41:43.214442, tti-dbg-02, vttiTask: Waiting for Request
2011-01-04T11:41:43.221551, tti-dbg-03, vttiTask: Started for Drive 3
2011-01-04T11:41:43.221943, tti-dbg-03, vttiTask: Waiting for Request
2011-01-04T11:41:43.237514, host, Host::Host()
2011-01-04T11:41:43.239676, host, robot present 1
2011-01-04T11:41:43.404015, VSnmpMIB, MIB Data Listen
2011-01-04T11:41:43.408140, tti-dbg-04, vttiTask: Started for Drive 4
2011-01-04T11:41:43.408443, tti-dbg-04, vttiTask: Waiting for Request
2011-01-04T11:41:43.411031, tti-dbg-05, vttiTask: Started for Drive 5
2011-01-04T11:41:43.411337, tti-dbg-05, vttiTask: Waiting for Request
2011-01-04T11:41:43.425638, tti-dbg-06, vttiTask: Started for Drive 6
2011-01-04T11:41:43.426040, tti-dbg-06, vttiTask: Waiting for Request
2011-01-04T11:41:43.566222, tti-dbg-07, vttiTask: Started for Drive 7
2011-01-04T11:41:43.566525, tti-dbg-07, vttiTask: Waiting for Request
2011-01-04T11:41:43.569144, tti-dbg-08, vttiTask: Started for Drive 8
2011-01-04T11:41:43.569451, tti-dbg-08, vttiTask: Waiting for Request
2011-01-04T11:41:43.582409, robot, hbbSetup - Application Exiting.
2011-01-04T11:41:43.591293, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/srv_coordinator ()
2011-01-04T11:41:43.596172, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/srv_grip (/usr/local/bin/srv_mech)
2011-01-04T11:41:43.600901, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/srv_reach (/usr/local/bin/srv_mech)
2011-01-04T11:41:43.815627, tti-dbg-09, vttiTask: Started for Drive 9
2011-01-04T11:41:43.816029, tti-dbg-09, vttiTask: Waiting for Request
2011-01-04T11:41:43.990196, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/srv_track (/usr/local/bin/srv_mech)
2011-01-04T11:41:43.994553, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/srv_strack (/usr/local/bin/srv_mech)
2011-01-04T11:41:44.136290, tti-dbg-10, vttiTask: Started for Drive 10
2011-01-04T11:41:44.136592, tti-dbg-10, vttiTask: Waiting for Request
2011-01-04T11:41:44.139203, tti-dbg-11, vttiTask: Started for Drive 11
2011-01-04T11:41:44.139505, tti-dbg-11, vttiTask: Waiting for Request
2011-01-04T11:41:44.155636, tti-dbg-12, vttiTask: Started for Drive 12
2011-01-04T11:41:44.156034, tti-dbg-12, vttiTask: Waiting for Request
2011-01-04T11:41:44.163083, servo, srv_mech_get: mech is grip
2011-01-04T11:41:44.166875, servo, srv_mech_task: setting real time priority for
mech=grip
2011-01-04T11:41:44.167610, servo, sys_set_rt_priority(): rt_priority enum=3, sc
hp.sched_priority=112
2011-01-04T11:41:44.282787, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/srv_wrist (/usr/local/bin/srv_mech)
2011-01-04T11:41:44.286972, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/srv_z (/usr/local/bin/srv_mech)
2011-01-04T11:41:44.440680, servo, srv_mech_get: sys_task_get_id() mechTaskId=/u
sr/local/bin/srv_reach
2011-01-04T11:41:44.485711, servo, srv_mech_get: sys_task_get_id() mechTaskId=/u
sr/local/bin/srv_track
2011-01-04T11:41:44.526211, tti-dbg-13, vttiTask: Started for Drive 13
2011-01-04T11:41:44.526515, tti-dbg-13, vttiTask: Waiting for Request
2011-01-04T11:41:44.529144, tti-dbg-14, vttiTask: Started for Drive 14
2011-01-04T11:41:44.529446, tti-dbg-14, vttiTask: Waiting for Request
2011-01-04T11:41:44.542726, servo, srv_mech_get: mech is track
2011-01-04T11:41:44.544363, servo, srv_mech_task: setting real time priority for
mech=track
2011-01-04T11:41:44.545094, servo, sys_set_rt_priority(): rt_priority enum=2, sc
hp.sched_priority=117
2011-01-04T11:41:44.551137, servo, srv_mech_get: mech is reach
2011-01-04T11:41:44.552774, servo, srv_mech_task: setting real time priority for
mech=reach
2011-01-04T11:41:44.553506, servo, sys_set_rt_priority(): rt_priority enum=3, sc
hp.sched_priority=112
2011-01-04T11:41:44.562123, tti-dbg-15, vttiTask: Started for Drive 15
2011-01-04T11:41:44.562530, tti-dbg-15, vttiTask: Waiting for Request
2011-01-04T11:41:44.492279, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/srv_isr ()
2011-01-04T11:41:44.685841, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/Director ()
2011-01-04T11:41:44.858161, servo, srv_mech_get: sys_task_get_id() mechTaskId=/u
sr/local/bin/srv_wrist
2011-01-04T11:41:44.889782, servo, srv_mech_get: sys_task_get_id() mechTaskId=/u
sr/local/bin/srv_strack
2011-01-04T11:41:44.892906, servo, srv_mech_get: mech is strack
2011-01-04T11:41:44.895508, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/Ifm ()
2011-01-04T11:41:44.926255, tti-dbg-16, vttiTask: Started for Drive 16
2011-01-04T11:41:44.926562, tti-dbg-16, vttiTask: Waiting for Request
2011-01-04T11:41:44.929210, tti-dbg-17, vttiTask: Started for Drive 17
2011-01-04T11:41:44.929513, tti-dbg-17, vttiTask: Waiting for Request
2011-01-04T11:41:44.945711, servo, srv_mech_task: setting real time priority for
mech=s-track
2011-01-04T11:41:44.946396, servo, sys_set_rt_priority(): rt_priority enum=2, sc
hp.sched_priority=117
2011-01-04T11:41:44.951988, servo, srv_mech_get: mech is wrist
2011-01-04T11:41:44.953612, servo, srv_mech_task: setting real time priority for
mech=wrist
2011-01-04T11:41:44.972942, servo, sys_set_rt_priority(): rt_priority enum=3, sc
hp.sched_priority=112
2011-01-04T11:41:44.981592, tti-dbg-18, vttiTask: Started for Drive 18
2011-01-04T11:41:44.981998, tti-dbg-18, vttiTask: Waiting for Request
2011-01-04T11:41:45.052806, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/VMonitor ()
2011-01-04T11:41:45.054972, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/SensorMgr ()
2011-01-04T11:41:45.307278, servo, srv_mech_get: sys_task_get_id() mechTaskId=/u
sr/local/bin/srv_z
2011-01-04T11:41:45.345671, servo, SRV ISR - Start
2011-01-04T11:41:45.348373, servo, srv_mech_get: mech is z
2011-01-04T11:41:45.351727, servo, srv_mech_task: setting real time priority for
mech=z
2011-01-04T11:41:45.352451, servo, sys_set_rt_priority(): rt_priority enum=3, sc
hp.sched_priority=112
2011-01-04T11:41:45.363553, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/Diag ()
2011-01-04T11:41:45.393182, servo, sys_set_rt_priority(): rt_priority enum=1, sc
hp.sched_priority=122
2011-01-04T11:41:45.395225, sys, sys_cpuinfo_get_cpu_clock: sys_cpuinfo_clock_fr
eq=198000000Hz
2011-01-04T11:41:45.402685, servo, ServoMoveData - initBuffer()
2011-01-04T11:41:45.434418, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/Stats ()
2011-01-04T11:41:45.724388, processMgr, runCommand: systemCmd = touch processMgr
.ready
2011-01-04T11:41:46.059039, LibMD, Sensor Manager is in mainloop.
2011-01-04T11:41:46.105939, sensor-manager, SensorManager: init value for sensor
/dev/mainDoorUnlock
2011-01-04T11:41:46.203098, sensor-manager, SensorManager: init value for sensor
/dev/capUnlock
2011-01-04T11:41:46.302749, sensor-manager, SensorManager: init value for sensor
/dev/cap1
2011-01-04T11:41:46.402753, sensor-manager, SensorManager: init value for sensor
/dev/cap2
2011-01-04T11:41:46.472069, Statistics, Stats Starting
2011-01-04T11:41:46.482589, Statistics, MediaEventLogger::readFromStorageFile():
[/mnt/nvram/MediaDriveEvents.txt]
2011-01-04T11:41:46.502755, sensor-manager, SensorManager: init value for sensor
/dev/cap3
2011-01-04T11:41:46.523586, Statistics, MediaEventLogger::_getMediaEventFileLock
- obtaining lock
2011-01-04T11:41:46.524439, Statistics, MediaEventLogger::_getMediaEventFileLock
- got lock
2011-01-04T11:41:46.602762, sensor-manager, SensorManager: init value for sensor
/dev/cap4
2011-01-04T11:41:46.702745, sensor-manager, SensorManager: init value for sensor
/dev/cap5
2011-01-04T11:41:46.725117, Statistics, MediaEventLogger::dumpNamedFile(): [/usr
/local/share/MediaDriveEvents_uponBoot.txt]
2011-01-04T11:41:46.802770, sensor-manager, SensorManager: init value for sensor
/dev/cap6
2011-01-04T11:41:46.923651, sensor-manager, SensorManager: init value for sensor
/dev/mainDoor
2011-01-04T11:41:46.934064, access-manager, LIB_ACCESS_CLOSED, LED_OFF
2011-01-04T11:41:47.023468, access-manager, *** DOOR CLOSED
2011-01-04T11:41:47.031042, access-manager, AMDoorSensorEvent - Door closed even
t
2011-01-04T11:41:47.031318, access-manager, AM: Transition START->(AM_DOOR_CLOSE
D_TRANSITION)->AUDIT LIBRARY, cap button(disabled) door button(enabled)
2011-01-04T11:41:47.032137,
or = 1 cap = 0
2011-01-04T11:41:47.036065,
ND
2011-01-04T11:41:47.047745,
2011-01-04T11:41:47.049408,
2011-01-04T11:41:47.049684,
2011-01-04T11:41:47.050247,
2011-01-04T11:41:47.082970,
2011-01-04T11:41:47.102833,
2011-01-04T11:41:47.143384,
2011-01-04T11:41:47.353086,
2011-01-04T11:41:47.353632,
AILED = 6414
2011-01-04T11:41:47.353997,
2011-01-04T11:41:47.354341,
eq=198000000Hz
2011-01-04T11:41:50.866836, tti-dbg-02, FOUND DRIVE AT PORT #2
2011-01-04T11:41:50.867106, tti-dbg-02, TTI DRIVE INIT: DRIVE 2 ON BUS = 0
2011-01-04T11:41:50.867448, tti-dbg-02, HpLtoClass: SetDriveConfiguration
2011-01-04T11:41:50.867831, tti-dbg-02, HPPackets: SetFibreConfiguration
2011-01-04T11:41:50.953146, tti-dbg-02, HP_LTO_GOOD_STATUS
2011-01-04T11:41:50.953500, tti-dbg-02, HPPackets: SendAckNakResponse
2011-01-04T11:41:50.954404, tti-dbg-02, DRIVEINIT: SUCCESSFUL INIT OF DRIVE #2
2011-01-04T11:41:50.980464, tti-dbg-02, HpLtoClass: GetDriveInformation
2011-01-04T11:41:50.980855, tti-dbg-02, HPPackets: GetDriveInformation
2011-01-04T11:41:51.092788, tti-dbg-02, HP_LTO_GOOD_STATUS
2011-01-04T11:41:51.093170, tti-dbg-02, driveCodeLevel = L6HS
2011-01-04T11:41:51.093987, tti-dbg-02, HPPackets: SendAckNakResponse
2011-01-04T11:41:51.095041, tti-dbg-02, tti: this driveType = HpUltrium3 info =
HpUltrium3
2011-01-04T11:41:51.095724, tti-dbg-02, DRIVE INFO: DRIVE 2 RESULTCODE = 0
2011-01-04T11:41:51.148162, tti-dbg-02, HpLtoClass: SetDriveTOD
2011-01-04T11:41:51.148627, tti-dbg-02, HPPackets: SetDriveTOD
2011-01-04T11:41:51.148869, tti-dbg-02, HPPackets: SetDriveTOD: Hour = 11
2011-01-04T11:41:51.149112, tti-dbg-02, HPPackets: SetDriveTOD: Min = 41
2011-01-04T11:41:51.149358, tti-dbg-02, HPPackets: SetDriveTOD: Sec = 51
2011-01-04T11:41:51.202777, tti-dbg-02, HP_LTO_GOOD_STATUS
2011-01-04T11:41:51.203124, tti-dbg-02, HPPackets: SendAckNakResponse
2011-01-04T11:41:51.231902, tti-dbg-02, HpLtoClass: GetDriveConfiguration
2011-01-04T11:41:51.232301, tti-dbg-02, HPPackets: GetFibreConfiguration
2011-01-04T11:41:51.322794, tti-dbg-02, HP_LTO_GOOD_STATUS
2011-01-04T11:41:51.323159, tti-dbg-02, HPPackets: SendAckNakResponse
2011-01-04T11:41:51.324089, tti-dbg-02, HPPackets: GetLinkStatus
2011-01-04T11:41:51.382779, tti-dbg-02, HP_LTO_GOOD_STATUS
2011-01-04T11:41:51.383203, tti-dbg-02, HPPackets: SendAckNakResponse
2011-01-04T11:41:51.384336, tti-dbg-02, DRIVE GET CONFIG: DRIVE 2 RESULTCODE = 0
2011-01-04T11:41:52.670056, robot, scanGetVersion data addr=0x7fffeb70, Hdr addr
=0x7fffeb70
2011-01-04T11:41:52.670318, robot, scanGetVersion Keys: 0x53 30 c0
2011-01-04T11:41:52.670565, robot, scanGetVersion found valid version
2011-01-04T11:41:52.670806, robot, scanGetVersion data len=0x001f, numChars=31
2011-01-04T11:41:52.671138, robot, Scanner version=*E1022 RS TTL SXX_302I CPU 1.
1*
2011-01-04T11:41:52.758327, VSnmpTrap, VSnmpSocketEventFileDesc: = 8
2011-01-04T11:41:52.772963, VSnmpTrap, VSnmp Registered for Events
2011-01-04T11:41:52.773467, VSnmpTrap, VSnmpSocketHeartBeatFileDesc: = 9
2011-01-04T11:41:52.792889, VSnmpTrap, VSnmp Registered for Events
2011-01-04T11:41:58.889752, robot, scanGetVersion data addr=0x7fffeed0, Hdr addr
=0x7fffeed0
2011-01-04T11:41:58.890024, robot, scanGetVersion Keys: 0x53 30 c0
2011-01-04T11:41:58.890267, robot, scanGetVersion found valid version
2011-01-04T11:41:58.890503, robot, scanGetVersion data len=0x001f, numChars=31
2011-01-04T11:41:58.890750, robot, Scanner version=*E1022 RS TTL SXX_302I CPU 1.
1*
2011-01-04T11:41:59.902689, robot, scanInitialize, version=*E1022 RS TTL SXX_302
I CPU 1.1* firmware version=SXX_302I, status=0
2011-01-04T11:41:59.905418, robot, Director - Starting scan request for scanner
software version.
2011-01-04T11:41:59.951241, robot, scanGetVersion data addr=0x7fffed90, Hdr addr
=0x7fffed90
2011-01-04T11:41:59.951488, robot, scanGetVersion Keys: 0x53 30 c0
2011-01-04T11:41:59.951734, robot, scanGetVersion found valid version
2011-01-04T11:41:59.952589, robot, scanGetVersion data len=0x001f, numChars=31
2011-01-04T11:41:59.952899, robot, Scanner version=*E1022 RS TTL SXX_302I CPU 1.
1*
I is up to date.
2011-01-04T11:42:02.521307, robot, scanUserSetVolatileMode: Volatile Mode Comman
d Successful
2011-01-04T11:42:02.521591, robot-config, cfg_parse_get_dimension succesful: dim
_name = COLUMN_0_TO_3_WRIST, dim_value = 213 (mils)
2011-01-04T11:42:02.538020, robot, Director - initialize lib cal data: rev = 1,
wrist offset = 182 mils, wrist_lash = 29 mils
2011-01-04T11:42:02.538555, robot-cfg-calib, Cfg_calib_library_cal_class::set: l
ib_half=1, offsets (TZW)=0,0,-60 (mils)
2011-01-04T11:42:02.539054, robot, Director - initialize lib cal data: wrist off
set = -60 mils, wrist_lash = 29 mils
2011-01-04T11:42:02.539519, robot, Director - initialize handbot 0
2011-01-04T11:42:02.540274, servo, Init Move to Negative Endstop reach mech
2011-01-04T11:42:02.548101, servo, servo - operation 0x0011 on reach
2011-01-04T11:42:02.548436, robot, mech_move_stall: mech=3, options=1
2011-01-04T11:42:02.548998, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:42:02.549615, servo, srv_mech_build_prof_request(): profile type=0
, mech=3, start=0.000000, end=-1830.000000, direction=-1, end_seg=1, lead_on_dec
el=0
2011-01-04T11:42:02.550917, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:42:02.551484, servo, srv_utils_isr_get_response: calling sigwait,
mech=3
2011-01-04T11:42:02.556154, servo, *** changing direction, mech=3, dir_bit=1
2011-01-04T11:42:02.812999, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:42:02.813344, servo, srv get_profile_resp: reach final pos=0 tachs
(0 mils, 0.000000 rads), distance=23 mils, srv_status=0, result code=0
2011-01-04T11:42:02.820768, service-metrics, reach, Time 0.000453:0.000536:0.001
413(Min:Avg:Max secs), MSI's=0
2011-01-04T11:42:02.821286, servo, Move Stall OK: start_t = 0, current_position
= 0, delta = 0 (tachs)
2011-01-04T11:42:02.821554, servo, Move Stall ZERO TACH: Oper0 = 54, Oper1 = 54,
Range = 0 (tachs)
2011-01-04T11:42:02.823788, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:42:02.847178, robot, HW Rev in scanner is 003
2011-01-04T11:42:02.863998, servo, Resetting counts per mil from file info.
2011-01-04T11:42:04.723122, robot, No configuration label!
2011-01-04T11:42:04.724207, robot, Director - not at home- calling general init
routine
2011-01-04T11:42:04.724760, robot-config, cfg_parse_get_dimension succesful: dim
_name = COLUMN_0_TO_3_WRIST, dim_value = 213 (mils)
2011-01-04T11:42:04.725281, robot-config, cfg_parse_get_dimension succesful: dim
_name = PARK_ZONE_TRACK, dim_value = 1400 (mils)
2011-01-04T11:42:04.725982, robot-config, cfg_parse_get_dimension succesful: dim
_name = SAFE_ZONE_TRACK, dim_value = 6500 (mils)
2011-01-04T11:42:04.726495, robot-config, cfg_parse_get_dimension succesful: dim
_name = SAFE_ZONE_Z, dim_value = 6000 (mils)
2011-01-04T11:42:04.733345, servo, servo - operation 0x0011 on track
2011-01-04T11:42:04.733675, robot, mech_move_stall: mech=0, options=0
2011-01-04T11:42:04.734065, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:42:04.735203, servo, srv_mech_build_prof_request(): profile type=0
, mech=0, start=0.000000, end=26.425200, direction=1, end_seg=1, lead_on_decel=0
2011-01-04T11:42:04.736479, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:42:04.737043, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:42:04.739991, servo, *** changing direction, mech=0, dir_bit=0
2011-01-04T11:42:06.789364, robot, srv_utils_isr_get_response: Recieved Response
achs (14283 mils, 127.429001 rads), distance=39 mils, srv_status=0, result code=
0
2011-01-04T11:43:12.276463, service-metrics, wrist, Time 0.000233:0.000317:0.000
492(Min:Avg:Max secs), MSI's=0
2011-01-04T11:43:12.280368, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:12.618951, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:12.619298, servo, srv get_profile_resp: z final pos=8985 tachs
(2080 mils, 28.227276 rads), distance=596 mils, srv_status=0, result code=0
2011-01-04T11:43:12.627903, service-metrics, z, Time 0.000243:0.000393:0.000512(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:43:12.630338, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:12.635059, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 57,2079,14283 (mils)
2011-01-04T11:43:12.696326, robot-cmo, cmo_move_arm_z_scan_req: commanding arm t
o (Z) 3287 (mils)
2011-01-04T11:43:12.696612, servo, srv_user_move_mech_z_scan_req: scanType=3, to
3287 (mils)
2011-01-04T11:43:12.696904, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:12.709248, servo, servo - operation 0x0012 on z
2011-01-04T11:43:12.710910, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:12.711380, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=28.227276, end=44.613861, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:43:12.713018, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:12.715094, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:43:13.581960, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:13.582309, servo, srv get_profile_resp: z final pos=14152 tachs
(3275 mils, 44.459923 rads), distance=1196 mils, srv_status=0, result code=0
2011-01-04T11:43:13.590878, service-metrics, z, Time 0.000242:0.000403:0.000528(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:43:13.593361, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:14.150567, robot-cmo, auditUserMultiScan returned 0 labels
2011-01-04T11:43:14.151957, robot-cmo, cmo_move_arm: commanding arm to (TZW) 58,
2687,14284 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:43:14.152283, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:14.167919, servo, servo - operation 0x0012 on track
2011-01-04T11:43:14.169871, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:14.170385, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=0.378200, end=0.378200, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:43:14.172019, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:14.175513, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:43:14.177218, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:14.178786, servo, srv get_profile_resp: track final pos=62 tach
s (57 mils, 0.378200 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:43:14.189930, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:43:14.200967, servo, servo - operation 0x0012 on z
2011-01-04T11:43:14.202880, robot, Srv_mech_parm_class::state - parmsOn = 0
et Pending, pending=1
2011-01-04T11:43:16.746822, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:43:16.750765, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:43:16.763654, servo, servo - operation 0x0012 on wrist
2011-01-04T11:43:16.767129, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:16.769042, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=127.435097, end=127.794998, direction=1, end_seg=2, lead_on_dece
l=0
2011-01-04T11:43:16.772192, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:16.775859, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:43:16.785091, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:17.046387, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:17.046739, servo, srv get_profile_resp: wrist final pos=20951 t
achs (14324 mils, 127.801094 rads), distance=41 mils, srv_status=0, result code=
0
2011-01-04T11:43:17.058996, service-metrics, wrist, Time 0.000239:0.000319:0.000
486(Min:Avg:Max secs), MSI's=0
2011-01-04T11:43:17.062976, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:17.405160, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:17.405508, servo, srv get_profile_resp: z final pos=8985 tachs
(2080 mils, 28.227276 rads), distance=596 mils, srv_status=0, result code=0
2011-01-04T11:43:17.414079, service-metrics, z, Time 0.000243:0.000393:0.000522(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:43:17.423197, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:17.429055, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 57,2079,14324 (mils)
2011-01-04T11:43:17.490482, robot-cmo, cmo_move_arm_z_scan_req: commanding arm t
o (Z) 3287 (mils)
2011-01-04T11:43:17.491865, servo, srv_user_move_mech_z_scan_req: scanType=3, to
3287 (mils)
2011-01-04T11:43:17.492160, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:17.504462, servo, servo - operation 0x0012 on z
2011-01-04T11:43:17.506172, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:17.506644, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=28.227276, end=44.613861, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:43:17.508193, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:17.510086, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:43:18.377131, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:18.377481, servo, srv get_profile_resp: z final pos=14152 tachs
(3275 mils, 44.459923 rads), distance=1196 mils, srv_status=0, result code=0
2011-01-04T11:43:18.386103, service-metrics, z, Time 0.000241:0.000403:0.000530(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:43:18.388495, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:18.941999, robot-cmo, auditUserMultiScan returned 0 labels
2011-01-04T11:43:18.943387, robot-cmo, cmo_move_arm: commanding arm to (TZW) 58,
et Pending, pending=1
2011-01-04T11:43:33.001325, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:43:33.023061, servo, servo - operation 0x0012 on wrist
2011-01-04T11:43:33.026257, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:33.026636, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=126.721397, end=126.721397, direction=-1, end_seg=2, lead_on_dec
el=0
2011-01-04T11:43:33.028371, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:33.030246, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:43:33.031988, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:33.033711, servo, srv get_profile_resp: wrist final pos=20774 t
achs (14203 mils, 126.721397 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:43:33.047988, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:43:33.055579, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:33.060680, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:33.502277, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:33.502665, servo, srv get_profile_resp: z final pos=10952 tachs
(2535 mils, 34.406803 rads), distance=282 mils, srv_status=0, result code=0
2011-01-04T11:43:33.511288, service-metrics, z, Time 0.000241:0.000378:0.000521(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:43:33.514894, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:33.518314, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 57,2534,14203 (mils)
2011-01-04T11:43:35.323971, robot-cmo, cmo_move_arm: commanding arm to (TZW) 58,
2879,14204 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:43:35.325357, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:35.340011, servo, servo - operation 0x0012 on track
2011-01-04T11:43:35.341722, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:35.342096, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=0.378200, end=0.378200, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:43:35.343667, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:35.345793, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:43:35.347595, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:35.349298, servo, srv get_profile_resp: track final pos=62 tach
s (57 mils, 0.378200 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:43:35.360174, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:43:35.372733, servo, servo - operation 0x0012 on z
2011-01-04T11:43:35.375993, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:35.377812, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=34.406803, end=39.078362, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:43:35.379471, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:35.381536, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:43:35.403425, servo, servo - operation 0x0012 on wrist
2011-01-04T11:43:56.408929,
t:
2011-01-04T11:43:56.436033,
t:
2011-01-04T11:43:56.463649,
t:
2011-01-04T11:43:56.492480,
t:
2011-01-04T11:43:56.522575,
t:
2011-01-04T11:43:56.551718,
t:
2011-01-04T11:43:56.580800,
t:
2011-01-04T11:43:56.610993,
t:
2011-01-04T11:43:56.640047,
t:
2011-01-04T11:43:56.669138,
t:
2011-01-04T11:43:56.699326,
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-config, Element map description:
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:43:59.251185, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:43:59.253148, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:43:59.255108, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:43:59.260237, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:43:59.262184, robot, srv_user_hand_cart_state: cart present sensor
=0
2011-01-04T11:43:59.264135, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:59.265651, robot, cmo_eval_op_state_precheck: cmo_status=0, ope
ration=2, code=0, operationalState=0
2011-01-04T11:43:59.267201, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:43:59.267658, robot, srv_user_hand_cart_state: cart present sensor
=0
2011-01-04T11:43:59.269215, robot-config, cfg_user_get_target_cartesian: Nominal
Target Cartesian Requested for address: (LMRC) 0,1,1,1
2011-01-04T11:43:59.269505, robot-config, Cfg_map_config_class::get_column (priv
ate): NON
adjusted track_mil_offset = 198
2011-01-04T11:43:59.270981, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:43:59.271442, robot-config, cfg_user_get_target_cartesian: Calibra
ted Target Cartesian Requested for address: (LMRC) 0,1,1,1
2011-01-04T11:43:59.276656, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: START, addr= (LMRC) 0,1,1,1
2011-01-04T11:43:59.278018, robot-config, Cfg_map_config_class::get_column (priv
ate): NON
adjusted track_mil_offset = 198
2011-01-04T11:43:59.278328, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position nom positions top:bot(TZW)=198,3325,213:0,0,0
2011-01-04T11:43:59.279916, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:43:59.280236, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: Targets Not Calibrated
2011-01-04T11:43:59.280480, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: END, final positions top:bot(TZW)=198,3325,213:0,0,0 (mils
)
2011-01-04T11:43:59.281870, robot-cfg-calib, cfg_calib_user_get_target_cal_posit
ion(): location Not Calibrated for handEmpty, using handFull if available
2011-01-04T11:43:59.282201, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: START, addr= (LMRC) 0,1,1,1
2011-01-04T11:43:59.283707, robot-config, Cfg_map_config_class::get_column (priv
ate): NON
adjusted track_mil_offset = 198
2011-01-04T11:43:59.283993, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position nom positions top:bot(TZW)=198,3325,213:0,0,0
2011-01-04T11:43:59.285537, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:43:59.290903, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: Targets Not Calibrated
2011-01-04T11:43:59.291171, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: END, final positions top:bot(TZW)=198,3325,213:0,0,0 (mils
)
2011-01-04T11:43:59.292524, robot-config, cfg_user_get_target_cartesian: Target
is NOT Calibrated, using Library Cal (Endstop's Target Offsets, if set)
2011-01-04T11:43:59.292851, robot-cfg-calib, Cfg_calib_library_cal_class::get: R
ight Half, Cal'd=1, offsets (TZW)=0,0,-60 (mils)
2011-01-04T11:43:59.296148, robot-config, cfg_parse_get_dimension succesful: dim
es:
firstMTAddr[0] = 0
firstMTAddr[1] = 0
numMTElements = 0x1
firs
tSTAddr[0] = 0x3
firstSTAddr[1] = 0xe8
numSTElements = 0x1e
firstIE
Addr[0] = 0
firstIEAddr[1] = 0xa
numIEElements = 0x5
firstDTAddr[0]
= 0x1
firstDTAddr[1] = 0xf4
numDTElements = 0x2
2011-01-04T11:43:59.945489, scsi-server, SmcUser::SmcUser(lunP) - Done
2011-01-04T11:43:59.956272, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:59.956621, servo, srv get_profile_resp: track final pos=2155 ta
chs (1990 mils, 13.145500 rads), distance=1933 mils, srv_status=0, result code=0
2011-01-04T11:43:59.965498, service-metrics, track, Time 0.000282:0.000441:0.000
558(Min:Avg:Max secs), MSI's=0
2011-01-04T11:43:59.969043, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:59.981631, servo, servo - operation 0x0012 on z
2011-01-04T11:43:59.983470, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:59.985030, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=32.437019, end=45.185631, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:43:59.985514, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:59.987207, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:44:00.012708, servo, servo - operation 0x0012 on wrist
2011-01-04T11:44:00.015897, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:00.017639, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=126.715294, end=1.360300, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:44:00.018109, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:00.021357, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:44:00.194592, scsi-engine, ScsiLun::ScsiLun(2) - 0x101e3d30
2011-01-04T11:44:00.217867, scsi-server, LibifSL500DeviceServer::LibifSL500Devic
eServer(deviceServerP)
2011-01-04T11:44:00.232497, scsi-server, SmcUser::SmcUser(lunP)
2011-01-04T11:44:00.236238, scsi-server, SmcUser::initModePages()
2011-01-04T11:44:00.355325, scsi-server, SmcUser::initModePages() - current valu
es:
firstMTAddr[0] = 0
firstMTAddr[1] = 0
numMTElements = 0x1
firs
tSTAddr[0] = 0x3
firstSTAddr[1] = 0xe8
numSTElements = 0
firstIEAdd
r[0] = 0
firstIEAddr[1] = 0xa
numIEElements = 0
firstDTAddr[0] = 0x
1
firstDTAddr[1] = 0xf4
numDTElements = 0
2011-01-04T11:44:00.358647, scsi-server, SmcUser::SmcUser(lunP) - Done
2011-01-04T11:44:00.364278, scsi-engine, ScsiLun::ScsiLun(3) - 0x101e3da0
2011-01-04T11:44:00.387798, scsi-server, LibifSL500DeviceServer::LibifSL500Devic
eServer(deviceServerP)
2011-01-04T11:44:00.403822, scsi-server, SmcUser::SmcUser(lunP)
2011-01-04T11:44:00.407640, scsi-server, SmcUser::initModePages()
2011-01-04T11:44:00.697614, scsi-server, SmcUser::initModePages() - current valu
es:
firstMTAddr[0] = 0
firstMTAddr[1] = 0
numMTElements = 0x1
firs
tSTAddr[0] = 0x3
firstSTAddr[1] = 0xe8
numSTElements = 0
firstIEAdd
r[0] = 0
firstIEAddr[1] = 0xa
numIEElements = 0
firstDTAddr[0] = 0x
1
firstDTAddr[1] = 0xf4
numDTElements = 0
2011-01-04T11:44:00.699467, scsi-server, SmcUser::SmcUser(lunP) - Done
2011-01-04T11:44:00.703412, scsi-engine, ScsiLun::ScsiLun(4) - 0x101e3e10
2011-01-04T11:44:00.719372, scsi-server, LibifSL500DeviceServer::LibifSL500Devic
eServer(deviceServerP)
2011-01-04T11:44:00.771560, robot, srv_utils_isr_get_response: Recieved Response
tSTAddr[0] = 0x3
firstSTAddr[1] = 0xe8
numSTElements = 0
firstIEAdd
r[0] = 0
firstIEAddr[1] = 0xa
numIEElements = 0
firstDTAddr[0] = 0x
1
firstDTAddr[1] = 0xf4
numDTElements = 0
2011-01-04T11:44:01.366681, scsi-server, SmcUser::SmcUser(lunP) - Done
2011-01-04T11:44:01.370537, scsi-engine, ScsiDevice::modifyLuns(numValidLuns = 1
, validLuns = 0x7ffff6f8) 0x101e4a08 - validLuns[0] = 0
2011-01-04T11:44:01.372241, scsi-engine, ScsiDevice::modifyLuns() - _luns[0] = 0
x101e3cc0
2011-01-04T11:44:01.384738, scsi-server, LibifSL500DeviceServer::LibifSL500Devic
eServer(deviceServerP)
2011-01-04T11:44:01.394037, scsi-server, SmcUser::SmcUser(lunP)
2011-01-04T11:44:01.397401, scsi-server, SmcUser::initModePages()
2011-01-04T11:44:01.478614, scsi-server, SmcUser::initModePages() - current valu
es:
firstMTAddr[0] = 0
firstMTAddr[1] = 0
numMTElements = 0x1
firs
tSTAddr[0] = 0x3
firstSTAddr[1] = 0xe8
numSTElements = 0x1e
firstIE
Addr[0] = 0
firstIEAddr[1] = 0xa
numIEElements = 0x5
firstDTAddr[0]
= 0x1
firstDTAddr[1] = 0xf4
numDTElements = 0x2
2011-01-04T11:44:01.480298, scsi-server, SmcUser::SmcUser(lunP) - Done
2011-01-04T11:44:01.514488, scsi-engine, ScsiDevice::startPorts() 0x101e4a08
2011-01-04T11:44:01.795610, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:01.795962, servo, srv get_profile_resp: wrist final pos=258 tac
hs (176 mils, 1.573800 rads), distance=14026 mils, srv_status=0, result code=0
2011-01-04T11:44:01.804682, service-metrics, wrist, Time 0.000241:0.000418:0.000
717(Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:01.807102, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:01.819265, servo, servo - operation 0x0012 on track
2011-01-04T11:44:01.820925, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:01.821393, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=13.279699, end=1.305400, direction=-1, end_seg=2, lead_on_decel=
0
2011-01-04T11:44:01.823030, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:01.824937, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:44:02.394419, scsi-engine, ScsiPort::activate() - ok through confi
gure
2011-01-04T11:44:02.399954, scsi-engine, ScsiDevice::startPorts() 0x101e4a08 - /
dev/scsi_tgt0 activate status = 6
2011-01-04T11:44:02.401486, scsi-engine, ScsiDevice::startPorts() 0x101e4a08 - /
dev/scsi_tgt0 PRESENT
2011-01-04T11:44:02.401980, scsi-engine, ScsiDevice::startPorts() 0x101e4a08 - D
one, numPorts = 1
2011-01-04T11:44:02.426959, host, HostInit::executeCommand(): Exiting command
2011-01-04T11:44:02.437718, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:02.438067, servo, srv get_profile_resp: track final pos=226 tac
hs (209 mils, 1.378600 rads), distance=1802 mils, srv_status=0, result code=0
2011-01-04T11:44:02.446894, service-metrics, track, Time 0.000301:0.000440:0.000
558(Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:02.450382, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:02.455576, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 209,3316,158 (mils)
2011-01-04T11:44:02.457822, sys, sys_cpuinfo_get_cpu_clock: sys_cpuinfo_clock_fr
eq=198000000Hz
2011-01-04T11:44:02.658037, robot, scanUserTarget: Returning target bars=11, ret
urnVal=0, code=0, targetReadTime=0.198384
ask = 0x10205500
2011-01-04T11:44:04.405586, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:04.416546, scsi-engine, ScsiValidTask::startCommandComplete() 0
x101eb7a8 - status = 0
2011-01-04T11:44:04.441344, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:04.454330, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:04.459574, scsi-engine, Task received 0x101e2c80: cdb = 0x12
0 0 0 0x24 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0x2 0x150100 0-0 0/100000
00c953a7ef p=0
2011-01-04T11:44:04.463155, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x101e2c80
2011-01-04T11:44:04.465145, scsi-server, SmcInquiry::initializeData()
2011-01-04T11:44:04.484746, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:04.493987, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:04.522487, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:04.529466, scsi-engine, Task received 0x10205950: cdb = 0xa0
0 0 0 0 0 0 0 0 0x10 0 0 0 0 0 0/ nexus = 0x5 0x150100 0-0 0/500110
a00018c1fa p=0
2011-01-04T11:44:04.538856, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10205950
2011-01-04T11:44:04.551867, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:04.562269, robot, scanUserTarget: Returning target bars=11, ret
urnVal=0, code=0, targetReadTime=0.187411
2011-01-04T11:44:04.591084, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:04.616286, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:04.621611, scsi-engine, Task received 0x10205b00: cdb = 0xa0
0 0 0 0 0 0 0 0 0x10 0 0 0 0 0 0/ nexus = 0x6 0x150100 0-0 0/500143
8001339df2 p=0
2011-01-04T11:44:04.630762, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10205b00
2011-01-04T11:44:04.648739, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:04.658071, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:04.672126, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:04.677457, scsi-engine, Task received 0x10205d18: cdb = 0xa0
0 0 0 0 0 0 0 0 0x10 0 0 0 0 0 0/ nexus = 0x7 0x150100 0-0 0/500143
8001339e1a p=0
2011-01-04T11:44:04.686732, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10205d18
2011-01-04T11:44:04.697432, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:04.721240, scsi-engine, ScsiValidTask::startCommandComplete() 0
x10205500 - status = 0
2011-01-04T11:44:04.728378, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:04.745951, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:04.750157, scsi-engine, Task received 0x10205f30: cdb = 0xa0
0 0 0 0 0 0 0 0 0x10 0 0 0 0 0 0/ nexus = 0x8 0x150100 0-0 0/210000
e08b9cddb9 p=0
2011-01-04T11:44:04.764299, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10205f30
2011-01-04T11:44:04.774858, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
ED
2011-01-04T11:44:07.828182, scsi-engine, Task received 0x101e2c80: cdb = 0x12 0
x1 0 0 0xff 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0x7 0x150100 0-0 0/50014
38001339e1a p=0
2011-01-04T11:44:07.832044, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x101e2c80
2011-01-04T11:44:07.835208, scsi-server, SmcInquiry::initializeData()
2011-01-04T11:44:07.864177, robot, scanGetTarget, scan_target() BAD Packet Lengt
h: targetReturn=13 length=28534
2011-01-04T11:44:07.864498, robot, scanUserTarget: Returning target bars=0, retu
rnVal=2, code=5412, targetReadTime=0.098973
2011-01-04T11:44:07.868075, robot-cmo, cmo_move_arm: commanding arm to (TZW) 198
,3229,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:44:07.869439, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:07.886201, servo, servo - operation 0x0012 on track
2011-01-04T11:44:07.887860, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:07.889339, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=1.305400, end=1.305400, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:07.889776, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:07.891387, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:44:07.893152, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:07.894739, servo, srv get_profile_resp: track final pos=214 tac
hs (198 mils, 1.305400 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:07.913119, servo, servo - operation 0x0012 on z
2011-01-04T11:44:07.914854, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:07.918724, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:07.922384, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=46.376297, end=43.828461, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:44:07.924117, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:07.927258, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:44:07.941888, servo, servo - operation 0x0012 on wrist
2011-01-04T11:44:07.943921, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:07.945532, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:07.947242, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:07.949192, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:44:07.950854, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:07.951191, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:07.965511, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:07.974504, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:07.977984, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:07.985280, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:08.003503, scsi-engine, ScsiValidTask::startCommandComplete() 0
x10205500 - status = 0
2011-01-04T11:44:09.615652,
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:09.624603,
, reach safe sensor=1
2011-01-04T11:44:09.628232,
, reach safe sensor=1
2011-01-04T11:44:09.657064,
2011-01-04T11:44:09.675288,
ED
2011-01-04T11:44:09.682360,
x1 0x80 0 0xff 0 0 0 0
110a00018c1fa p=0
2011-01-04T11:44:09.687886,
ask = 0x10205f30
2011-01-04T11:44:09.691373,
2011-01-04T11:44:09.718585,
4?
scsi-engine, ScsiTask::setStatusAndSense()errCode =
scsi-engine, ScsiTask::create():lun = 0
scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
scsi-engine, Task received 0x10205d18: cdb = 0x12 0
0 0 0 0 0 0 0/ nexus = 0x8 0x150100 0-0 0/210
scsi-server, SmcUser::executeCommand() - executing t
scsi-server, SmcInquiry::initializeData()
scsi-engine, Copied root serial number = 55900010120
scsi-engine, stringStreamSize = 1
scsi-engine, Modified serial number = 559000101204
scsi-engine, ScsiTask::setStatusAndSense()errCode =
scsi-engine, ScsiTask::create():lun = 0
scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
scsi-engine, Task received 0x10206398: cdb = 0x12 0
0 0 0 0 0 0 0/ nexus = 0x6 0x150100 0-0 0/500
scsi-server, SmcUser::executeCommand() - executing t
scsi-server, SmcInquiry::initializeData()
scsi-engine, Copied root serial number = 55900010120
scsi-engine, stringStreamSize = 1
scsi-engine, Modified serial number = 559000101204
scsi-engine, ScsiTask::setStatusAndSense()errCode =
scsi-engine, ScsiValidTask::startCommandComplete() 0
scsi-engine, ScsiValidTask::startCommandComplete() 0
scsi-engine, ScsiValidTask::startCommandComplete() 0
scsi-engine, ScsiTask::create():lun = 0
h: targetReturn=0 length=28534
2011-01-04T11:44:10.387289, robot, scanUserTarget: Returning target bars=0, retu
rnVal=2, code=5412, targetReadTime=0.297809
2011-01-04T11:44:10.397959, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:10.403362, scsi-engine, Task received 0x102055f8: cdb = 0xa0
0 0 0 0 0 0 0 0 0x10 0 0 0 0 0 0/ nexus = 0x4 0x150100 0-0 0/100000
00c935cdb3 p=0
2011-01-04T11:44:10.412702, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x102055f8
2011-01-04T11:44:10.437821, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:10.450731, scsi-engine, ScsiValidTask::startCommandComplete() 0
x10205d18 - status = 0
2011-01-04T11:44:10.459698, scsi-engine, ScsiValidTask::startCommandComplete() 0
x10208190 - status = 0
2011-01-04T11:44:10.482881, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:10.493924, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:10.498955, scsi-engine, Task received 0x10205f30: cdb = 0x12
0 0 0 0x24 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0x5 0x150100 0-0 0/500110
a00018c1fa p=0
2011-01-04T11:44:10.502430, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10205f30
2011-01-04T11:44:10.506173, scsi-server, SmcInquiry::initializeData()
2011-01-04T11:44:10.528113, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:10.538999, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:10.553283, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:10.558573, scsi-engine, Task received 0x101eb8a0: cdb = 0xa0
0 0 0 0 0 0 0 0 0x10 0 0 0 0 0 0/ nexus = 0x7 0x150100 0-0 0/500143
8001339e1a p=0
2011-01-04T11:44:10.569351, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x101eb8a0
2011-01-04T11:44:10.581895, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:10.595028, scsi-engine, ScsiValidTask::startCommandComplete() 0
x102055f8 - status = 0
2011-01-04T11:44:10.611133, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:10.636468, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:10.641740, scsi-engine, Task received 0x10205d18: cdb = 0x12
0 0 0 0x24 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0x8 0x150100 0-0 0/210000
e08b9cddb9 p=0
2011-01-04T11:44:10.646939, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10205d18
2011-01-04T11:44:10.648976, scsi-server, SmcInquiry::initializeData()
2011-01-04T11:44:10.674315, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:10.686990, robot, scanGetTarget, scan_target() BAD Packet Lengt
h: targetReturn=0 length=28534
2011-01-04T11:44:10.688438, robot, scanUserTarget: Returning target bars=0, retu
rnVal=2, code=5412, targetReadTime=0.297623
2011-01-04T11:44:10.708389, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:10.722434, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:10.738851, scsi-engine, Task received 0x10207e98: cdb = 0x12
0 0 0 0x24 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0x6 0x150100 0-0 0/500143
8001339df2 p=0
D= 6
2011-01-04T11:44:13.918236, scsi-engine, Task received 0x102055f8: cdb = 0x12 0
xc0 0 0 0x24 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0x9 0x150100 6-6 0/1000
0000c935ce63 p=0
2011-01-04T11:44:13.921980, scsi-engine, ScsiBadLunTask::execute()
2011-01-04T11:44:13.923786, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x102055f8
2011-01-04T11:44:13.925756, scsi-server, SmcInquiry::initializeData()
2011-01-04T11:44:13.974338, scsi-engine, ScsiBadLunTask::startCommandComplete()
0x102055f8 - status = 0
2011-01-04T11:44:13.988827, scsi-engine, ScsiTask::create():lun = 7
2011-01-04T11:44:13.995924, scsi-engine, ScsiDevice::getLun() - using bad lun
2011-01-04T11:44:14.001414, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:14.003050, scsi-engine, ScsiTask::create():virtual lun NOT VALI
D= 7
2011-01-04T11:44:14.008156, scsi-engine, Task received 0x101eb8a0: cdb = 0x12 0
xe0 0 0 0x24 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0x9 0x150100 7-7 0/1000
0000c935ce63 p=0
2011-01-04T11:44:14.011895, scsi-engine, ScsiBadLunTask::execute()
2011-01-04T11:44:14.012386, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x101eb8a0
2011-01-04T11:44:14.015574, scsi-server, SmcInquiry::initializeData()
2011-01-04T11:44:14.049777, scsi-engine, ScsiBadLunTask::startCommandComplete()
0x101eb8a0 - status = 0
2011-01-04T11:44:14.161645, robot, scanGetTarget, scan_target() BAD Packet Lengt
h: targetReturn=0 length=28534
2011-01-04T11:44:14.161966, robot, scanUserTarget: Returning target bars=0, retu
rnVal=2, code=5412, targetReadTime=0.297722
2011-01-04T11:44:14.340501, robot, scanGetTarget, scan_target() BAD Packet Lengt
h: targetReturn=13 length=28534
2011-01-04T11:44:14.342057, robot, scanUserTarget: Returning target bars=0, retu
rnVal=2, code=5412, targetReadTime=0.176316
2011-01-04T11:44:14.448408, robot, scanGetTarget, scan_target() BAD Packet Lengt
h: targetReturn=13 length=28534
2011-01-04T11:44:14.448730, robot, scanUserTarget: Returning target bars=0, retu
rnVal=2, code=5412, targetReadTime=0.103069
2011-01-04T11:44:14.558744, robot, scanGetTarget, scan_target() BAD Packet Lengt
h: targetReturn=13 length=28534
2011-01-04T11:44:14.560304, robot, scanUserTarget: Returning target bars=0, retu
rnVal=2, code=5412, targetReadTime=0.107945
2011-01-04T11:44:14.670554, robot, scanGetTarget, scan_target() BAD Packet Lengt
h: targetReturn=13 length=28534
2011-01-04T11:44:14.672116, robot, scanUserTarget: Returning target bars=0, retu
rnVal=2, code=5412, targetReadTime=0.108181
2011-01-04T11:44:14.677646, robot-cmo, cmo_move_arm: commanding arm to (TZW) 198
,3129,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:44:14.679234, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:14.695310, servo, servo - operation 0x0012 on track
2011-01-04T11:44:14.695914, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:14.697334, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=1.305400, end=1.305400, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:14.697758, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:14.699442, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:44:14.700961, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:14.702522, servo, srv get_profile_resp: track final pos=214 tac
)
2011-01-04T11:44:18.160209, robot-config, cfg_user_get_target_cartesian: Target
is NOT Calibrated, using Library Cal (Endstop's Target Offsets, if set)
2011-01-04T11:44:18.163414, robot-cfg-calib, Cfg_calib_library_cal_class::get: R
ight Half, Cal'd=1, offsets (TZW)=0,0,-60 (mils)
2011-01-04T11:44:18.163816, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:44:18.167139, robot-cmo, cmo_move_arm: commanding arm to (TZW) 198
,8884,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:44:18.167476, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:18.184950, servo, servo - operation 0x0012 on track
2011-01-04T11:44:18.186664, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:18.187140, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=1.927600, end=1.305400, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:18.188626, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:18.190419, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:44:18.210636, servo, servo - operation 0x0012 on z
2011-01-04T11:44:18.212387, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:18.214114, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=42.248238, end=120.587173, direction=1, end_seg=2, lead_on_decel
=0
2011-01-04T11:44:18.215708, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:18.217596, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:44:18.246598, servo, servo - operation 0x0012 on wrist
2011-01-04T11:44:18.248551, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:18.250372, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:18.252138, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:18.255671, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:44:18.257458, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:18.259106, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:18.277314, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:18.300865, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:18.473678, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:18.474027, servo, srv get_profile_resp: track final pos=220 tac
hs (203 mils, 1.342000 rads), distance=89 mils, srv_status=0, result code=0
2011-01-04T11:44:18.484863, service-metrics, track, Time 0.000285:0.000377:0.000
555(Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:18.490200, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:19.907207, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:19.907557, servo, srv get_profile_resp: z final pos=38329 tachs
(8871 mils, 120.414383 rads), distance=5759 mils, srv_status=0, result code=0
2011-01-04T11:44:19.916175, service-metrics, z, Time 0.000240:0.000419:0.000683(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:19.919689, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.167832, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.169515, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,4,1 -> top TZW=115,-229,-60, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.171309, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.173006, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,4,1 -> top TZW=115,-229,-60, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.174869, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.176521, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,4,1 -> top TZW=115,-229,-60, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.183724, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.184326, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,4,1 -> top TZW=10,14,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.187291, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.187891, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,4,1 -> top TZW=101,-243,-61, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.189731, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.191499, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,4,1 -> top TZW=110,-243,-61, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.193241, robot, cmo_eval_op_state START: cmo_status=0, operat
ion=3, code=0, operationalState=0
2011-01-04T11:44:31.194836, robot, cmo_eval_op_state checking to see if cart pre
sent will be over-ridden by grip position
2011-01-04T11:44:31.196467, robot, cmo_eval_op_state sensor read - Reach Safe:1,
Cartridge Present:0
2011-01-04T11:44:31.198069, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:31.198642, robot, cmo_eval_op_state END: cmo_status=0, operatio
n=3, code=0, operationalState=0
2011-01-04T11:44:31.200436, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,5,1 -> calibrated=1, retarget=0, top TZW=115,-229,-60, bottom TZW=0,0,0
(mils)
2011-01-04T11:44:31.202202, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,6,1 -> calibrated=1, retarget=0, top TZW=115,-229,-60, bottom TZW=0,0,0
(mils)
2011-01-04T11:44:31.204126, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,7,1 -> calibrated=1, retarget=0, top TZW=115,-229,-60, bottom TZW=0,0,0
(mils)
2011-01-04T11:44:31.205808, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:44:31.207699, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,1 -> calibrated=1, retarget=0, top TZW=36,-278,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:44:31.209394, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,1,1, targ offsets (sign co
rrected) top:bot(TZW)=36,-278,-60:0,0,0 (mils)
2011-01-04T11:44:31.211064, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:44:31.212622, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=198,3170,213 cal positions(TZW)=234,2
892,153 (mils)
2011-01-04T11:44:31.221783, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:44:31.387902, robot-config, cfg_parse_get_dimension succesful: dim
mils)
2011-01-04T11:44:33.286530, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,1,1, targ offsets (sign co
rrected) top:bot(TZW)=36,-278,-60:0,0,0 (mils)
2011-01-04T11:44:33.287059, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:44:33.288694, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=198,3170,213 cal positions(TZW)=234,2
892,153 (mils)
2011-01-04T11:44:33.290330, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:44:33.291971, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_END_OFFSET_Z, dim_value = 0 (mils)
2011-01-04T11:44:33.292480, robot-cmo, cmo_move_arm_z_scan_req: commanding arm t
o (Z) 2896 (mils)
2011-01-04T11:44:33.294306, servo, srv_user_move_mech_z_scan_req: scanType=3, to
2896 (mils)
2011-01-04T11:44:33.295962, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:33.308521, servo, servo - operation 0x0012 on z
2011-01-04T11:44:33.310272, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:33.311799, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=28.623117, end=39.307697, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:44:33.312281, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:33.314094, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:44:34.047620, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:34.047969, servo, srv get_profile_resp: z final pos=12463 tachs
(2885 mils, 39.153759 rads), distance=776 mils, srv_status=0, result code=0
2011-01-04T11:44:34.056766, service-metrics, z, Time 0.000242:0.000396:0.000519(
Min:Avg:Max secs), MSI's=1
2011-01-04T11:44:34.060296, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:34.643139, robot, label=DG 001L3, cart detect=1
2011-01-04T11:44:34.645073, robot, cmo_eval_op_state START: cmo_status=0, operat
ion=2, code=0, operationalState=0
2011-01-04T11:44:34.646704, robot, cmo_eval_op_state checking to see if cart pre
sent will be over-ridden by grip position
2011-01-04T11:44:34.648271, robot, cmo_eval_op_state sensor read - Reach Safe:1,
Cartridge Present:0
2011-01-04T11:44:34.649917, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:34.650494, robot, cmo_eval_op_state END: cmo_status=0, operatio
n=2, code=0, operationalState=0
2011-01-04T11:44:34.652184, robot, directorUserAuditData: Addr: (LMRC) 0,1,1,1,
Label:DG 001L3, Present:1, Upside Down:0, Magazine Absent:0
2011-01-04T11:44:34.653872, robot,
Last chunk=false
2011-01-04T11:44:34.673340, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:44:34.675202, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,2,1 -> calibrated=1, retarget=0, top TZW=36,-278,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:44:34.676900, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,2,1, targ offsets (sign co
rrected) top:bot(TZW)=36,-278,-60:0,0,0 (mils)
2011-01-04T11:44:34.677437, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
mils)
2011-01-04T11:44:36.734779, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,3,1, targ offsets (sign co
rrected) top:bot(TZW)=36,-278,-60:0,0,0 (mils)
2011-01-04T11:44:36.735071, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:44:36.736395, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=198,5450,213 cal positions(TZW)=234,5
172,153 (mils)
2011-01-04T11:44:36.736762, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:44:36.738178, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_START_OFFSET_Z, dim_value = -780 (mils)
2011-01-04T11:44:36.738480, robot-cmo, cmo_move_arm: commanding arm to (TZW) 234
,4396,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:44:36.738794, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:36.754983, servo, servo - operation 0x0012 on track
2011-01-04T11:44:36.758380, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:36.760212, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=1.549400, end=1.543300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:36.761942, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:36.765597, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:44:36.767316, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:36.768933, servo, srv get_profile_resp: track final pos=254 tac
hs (235 mils, 1.549400 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:36.781864, servo, servo - operation 0x0012 on z
2011-01-04T11:44:36.787197, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:36.790571, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=55.983311, end=59.668407, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:44:36.794030, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:36.794612, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:36.799676, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:44:36.812736, servo, servo - operation 0x0012 on wrist
2011-01-04T11:44:36.816275, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:36.818197, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:36.821520, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:36.825193, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:44:36.827028, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:36.828889, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:36.839578, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:36.851984, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:36.857645, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:37.297332, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
Cartridge Present:0
2011-01-04T11:44:40.697115, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:40.698561, robot, cmo_eval_op_state END: cmo_status=0, operatio
n=2, code=0, operationalState=0
2011-01-04T11:44:40.698965, robot, directorUserAuditData: Addr: (LMRC) 0,1,4,1,
Label:000149L3, Present:1, Upside Down:0, Magazine Absent:0
2011-01-04T11:44:40.700305, robot,
Last chunk=false
2011-01-04T11:44:40.712935, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:44:40.713419, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,5,1 -> calibrated=1, retarget=0, top TZW=115,-229,-60, bottom TZW=0,0,0
(mils)
2011-01-04T11:44:40.714915, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,5,1, targ offsets (sign co
rrected) top:bot(TZW)=115,-229,-60:0,0,0 (mils)
2011-01-04T11:44:40.715204, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:44:40.716574, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=198,7685,213 cal positions(TZW)=313,7
456,153 (mils)
2011-01-04T11:44:40.716944, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:44:40.718326, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_START_OFFSET_Z, dim_value = -780 (mils)
2011-01-04T11:44:40.718616, robot-cmo, cmo_move_arm: commanding arm to (TZW) 313
,6680,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:44:40.718933, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:40.735094, servo, servo - operation 0x0012 on track
2011-01-04T11:44:40.738416, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:40.740205, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=2.092300, end=2.061800, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:40.742000, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:40.745648, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:44:40.747313, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:40.748967, servo, srv get_profile_resp: track final pos=343 tac
hs (317 mils, 2.092300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:40.761865, servo, servo - operation 0x0012 on z
2011-01-04T11:44:40.767292, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:40.770677, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=86.950058, end=90.669716, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:44:40.774453, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:40.776082, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:40.784988, servo, servo - operation 0x0012 on wrist
2011-01-04T11:44:40.790442, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:44:40.794049, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:40.796069, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:40.797802, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:40.800004, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
chs (4667 mils, 30.829399 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:55.260910, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:55.272320, servo, servo - operation 0x0012 on z
2011-01-04T11:44:55.275713, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:55.277544, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=47.070591, end=43.149876, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:44:55.279265, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:55.281224, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:44:55.302911, servo, servo - operation 0x0012 on wrist
2011-01-04T11:44:55.306101, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:55.306478, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:55.308175, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:55.310054, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:44:55.311756, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:55.313491, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:55.327796, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:55.335383, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:55.340518, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:55.792996, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:55.793345, servo, srv get_profile_resp: z final pos=13684 tachs
(3167 mils, 42.989655 rads), distance=301 mils, srv_status=0, result code=0
2011-01-04T11:44:55.801961, service-metrics, z, Time 0.000242:0.000380:0.000522(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:55.811065, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:55.820028, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 4667,3167,152 (mils)
2011-01-04T11:44:56.016778, robot, scanUserTarget: Returning target bars=13, ret
urnVal=0, code=0, targetReadTime=0.194517
2011-01-04T11:44:56.066961, robot-cfg-calib, cmo_target target found: Scanner Ho
rizontal Offset=69 (-left/+right)MILS, Vertical Offset=-43 (-up/+down)MILS
2011-01-04T11:44:56.070990, robot-cfg-calib, Cfg_calib_library_cal_class::get: R
ight Half, Cal'd=1, offsets (TZW)=0,0,-60 (mils)
2011-01-04T11:44:56.072523, robot-cfg-calib, cmo_target: Applying Library Calibr
ation offset to Wrist
2011-01-04T11:44:56.076081, robot-config, cfg_parse_get_dimension succesful: dim
_name = CALIB_RETARGET_TOLERANCE, dim_value = 15 (mils)
2011-01-04T11:44:56.078167, robot-cmo, cmo_move_arm: commanding arm to (TZW) 473
6,3124,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:44:56.079765, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:56.095916, servo, servo - operation 0x0012 on track
2011-01-04T11:44:56.097568, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:56.098040, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=30.829399, end=31.280800, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:44:56.099617, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:56.101343, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:44:56.121422, servo, servo - operation 0x0012 on z
2011-01-04T11:44:56.123353, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:56.124948, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=42.989655, end=42.402176, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:44:56.126623, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:56.128422, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:44:56.155634, servo, servo - operation 0x0012 on wrist
2011-01-04T11:44:56.157617, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:56.159426, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:56.161198, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:56.164695, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:44:56.166495, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:56.168136, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:56.184760, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:56.195455, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:56.371778, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:56.372127, servo, srv get_profile_resp: track final pos=5119 ta
chs (4727 mils, 31.225899 rads), distance=60 mils, srv_status=0, result code=0
2011-01-04T11:44:56.380992, service-metrics, track, Time 0.000284:0.000369:0.000
556(Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:56.384567, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:56.431346, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:56.431694, servo, srv get_profile_resp: z final pos=13463 tachs
(3116 mils, 42.295361 rads), distance=51 mils, srv_status=0, result code=0
2011-01-04T11:44:56.440479, service-metrics, z, Time 0.000243:0.000340:0.000526(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:56.466062, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:56.473383, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 4727,3115,152 (mils)
2011-01-04T11:44:56.667852, robot, scanUserTarget: Returning target bars=11, ret
urnVal=0, code=0, targetReadTime=0.191158
2011-01-04T11:44:56.713219, robot-cfg-calib, cmo_target target found: Scanner Ho
rizontal Offset=7 (-left/+right)MILS, Vertical Offset=7 (-up/+down)MILS
2011-01-04T11:44:56.716695, robot-cfg-calib, Cfg_calib_library_cal_class::get: R
ight Half, Cal'd=1, offsets (TZW)=0,0,-60 (mils)
2011-01-04T11:44:56.718028, robot-cfg-calib, cmo_target: Applying Library Calibr
ation offset to Wrist
2011-01-04T11:44:56.721953, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,2 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:56.725590, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,2 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:56.727206, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,2 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
=0
2011-01-04T11:44:56.853887, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:56.855518, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:44:56.880949, servo, servo - operation 0x0012 on z
2011-01-04T11:44:56.882705, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:56.884405, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=42.295361, end=120.587173, direction=1, end_seg=2, lead_on_decel
=0
2011-01-04T11:44:56.886030, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:56.887949, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:44:56.916791, servo, servo - operation 0x0012 on wrist
2011-01-04T11:44:56.918753, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:56.920588, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:56.922326, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:56.925875, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:44:56.927679, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:56.929315, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:56.947278, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:56.956602, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:57.122168, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:57.122518, servo, srv get_profile_resp: track final pos=5053 ta
chs (4666 mils, 30.823299 rads), distance=64 mils, srv_status=0, result code=0
2011-01-04T11:44:57.134832, service-metrics, track, Time 0.000283:0.000367:0.000
560(Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:57.138754, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:58.577385, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:58.577734, servo, srv get_profile_resp: z final pos=38330 tachs
(8871 mils, 120.417526 rads), distance=5755 mils, srv_status=0, result code=0
2011-01-04T11:44:58.586360, service-metrics, z, Time 0.000242:0.000419:0.000716(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:58.589893, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:58.595524, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 4667,8871,152 (mils)
2011-01-04T11:44:58.788859, robot, scanUserTarget: Returning target bars=9, retu
rnVal=0, code=0, targetReadTime=0.191098
2011-01-04T11:44:58.994219, robot, scanUserTarget: Returning target bars=7, retu
rnVal=0, code=0, targetReadTime=0.187873
2011-01-04T11:44:59.203321, robot, scanUserTarget: Returning target bars=9, retu
rnVal=0, code=0, targetReadTime=0.194945
2011-01-04T11:44:59.219701, robot-cmo, cmo_move_arm: commanding arm to (TZW) 466
8,8934,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:44:59.221287, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:59.237381, servo, servo - operation 0x0012 on track
2011-01-04T11:44:59.237978, robot, Srv_mech_parm_class::state - parmsOn = 0
chs (9138 mils, 60.365601 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:27.679146, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:27.691882, servo, servo - operation 0x0012 on z
2011-01-04T11:45:27.695372, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:27.697198, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=44.397091, end=46.542805, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:45:27.698941, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:27.700929, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:27.722564, servo, servo - operation 0x0012 on wrist
2011-01-04T11:45:27.725827, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:27.726203, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:45:27.727882, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:27.729795, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:45:27.731541, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:27.733335, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:27.749340, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:27.758368, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:27.763647, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:28.124215, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:28.124564, servo, srv get_profile_resp: z final pos=14762 tachs
(3417 mils, 46.376297 rads), distance=146 mils, srv_status=0, result code=0
2011-01-04T11:45:28.133400, service-metrics, z, Time 0.000243:0.000379:0.001010(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:28.137010, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:28.142605, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 9138,3416,152 (mils)
2011-01-04T11:45:28.359054, robot, scanUserTarget: Returning target bars=0, retu
rnVal=6, code=5416, targetReadTime=0.212835
2011-01-04T11:45:28.627405, robot, scanUserTarget: Returning target bars=0, retu
rnVal=6, code=5416, targetReadTime=0.264625
2011-01-04T11:45:28.837059, robot, scanUserTarget: Returning target bars=0, retu
rnVal=6, code=5416, targetReadTime=0.206050
2011-01-04T11:45:28.840640, robot-cmo, cmo_move_arm: commanding arm to (TZW) 913
8,3229,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:45:28.842272, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:28.858537, servo, servo - operation 0x0012 on track
2011-01-04T11:45:28.860219, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:28.861752, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=60.359497, end=60.359497, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:45:28.862225, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:28.865578, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:45:28.865937, robot, srv_utils_isr_get_response: Recieved Response
0
2011-01-04T11:45:29.649769, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:29.650336, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:45:29.671734, servo, servo - operation 0x0012 on z
2011-01-04T11:45:29.673606, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:29.675311, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=43.683949, end=43.338371, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:45:29.676903, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:29.677475, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:29.708026, servo, servo - operation 0x0012 on wrist
2011-01-04T11:45:29.711454, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:29.713211, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:45:29.715061, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:29.716974, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:45:29.718879, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:29.720611, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:29.740304, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:29.751286, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:29.927578, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:29.927956, servo, srv get_profile_resp: track final pos=9974 ta
chs (9210 mils, 60.841400 rads), distance=73 mils, srv_status=0, result code=0
2011-01-04T11:45:29.936875, service-metrics, track, Time 0.000296:0.000385:0.000
591(Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:29.940421, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:29.949235, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:29.949584, servo, srv get_profile_resp: z final pos=13753 tachs
(3183 mils, 43.206425 rads), distance=35 mils, srv_status=0, result code=0
2011-01-04T11:45:29.958471, service-metrics, z, Time 0.000247:0.000337:0.000737(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:29.962077, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:29.969142, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 9210,3183,152 (mils)
2011-01-04T11:45:30.167799, robot, scanUserTarget: Returning target bars=11, ret
urnVal=0, code=0, targetReadTime=0.196457
2011-01-04T11:45:30.216532, robot-cfg-calib, cmo_target target found: Scanner Ho
rizontal Offset=7 (-left/+right)MILS, Vertical Offset=5 (-up/+down)MILS
2011-01-04T11:45:30.221735, robot-cfg-calib, Cfg_calib_library_cal_class::get: R
ight Half, Cal'd=1, offsets (TZW)=0,0,-60 (mils)
2011-01-04T11:45:30.223437, robot-cfg-calib, cmo_target: Applying Library Calibr
ation offset to Wrist
2011-01-04T11:45:30.230410, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,3 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:30.232296, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,3 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
3033 (mils)
2011-01-04T11:45:39.788438, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:39.804845, servo, servo - operation 0x0012 on z
2011-01-04T11:45:39.806504, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:39.806976, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=30.420113, end=41.167526, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:45:39.808612, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:39.810350, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:40.544158, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:40.544508, servo, srv get_profile_resp: z final pos=13039 tachs
(3018 mils, 40.963322 rads), distance=777 mils, srv_status=0, result code=0
2011-01-04T11:45:40.553743, service-metrics, z, Time 0.000243:0.000406:0.000920(
Min:Avg:Max secs), MSI's=1
2011-01-04T11:45:40.557307, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:41.114103, robot, label=000127L3, cart detect=1
2011-01-04T11:45:41.115958, robot, cmo_eval_op_state START: cmo_status=0, operat
ion=2, code=0, operationalState=0
2011-01-04T11:45:41.116245, robot, cmo_eval_op_state checking to see if cart pre
sent will be over-ridden by grip position
2011-01-04T11:45:41.117600, robot, cmo_eval_op_state sensor read - Reach Safe:1,
Cartridge Present:0
2011-01-04T11:45:41.117944, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:41.119375, robot, cmo_eval_op_state END: cmo_status=0, operatio
n=2, code=0, operationalState=0
2011-01-04T11:45:41.119819, robot, directorUserAuditData: Addr: (LMRC) 0,1,1,3,
Label:000127L3, Present:1, Upside Down:0, Magazine Absent:0
2011-01-04T11:45:41.121175, robot,
Last chunk=false
2011-01-04T11:45:41.133871, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:45:41.134352, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,2,3 -> calibrated=1, retarget=0, top TZW=80,-141,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:45:41.135850, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,2,3, targ offsets (sign co
rrected) top:bot(TZW)=80,-141,-60:0,0,0 (mils)
2011-01-04T11:45:41.136139, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:45:41.137562, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=9138,4410,213 cal positions(TZW)=9218
,4269,153 (mils)
2011-01-04T11:45:41.137922, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:45:41.139324, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_START_OFFSET_Z, dim_value = -780 (mils)
2011-01-04T11:45:41.139608, robot-cmo, cmo_move_arm: commanding arm to (TZW) 921
8,3493,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:45:41.141099, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:41.160833, servo, servo - operation 0x0012 on track
2011-01-04T11:45:41.161468, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:41.164410, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=60.896297, end=60.890198, direction=-1, end_seg=2, lead_on_decel
=0
,6472,153 (mils)
2011-01-04T11:45:45.189754, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:45:45.190059, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_START_OFFSET_Z, dim_value = -780 (mils)
2011-01-04T11:45:45.191866, robot-cmo, cmo_move_arm: commanding arm to (TZW) 921
5,5696,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:45:45.193565, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:45.211429, servo, servo - operation 0x0012 on track
2011-01-04T11:45:45.213234, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:45.213709, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=60.890198, end=60.865799, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:45:45.215236, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:45.216934, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:45:45.242168, servo, servo - operation 0x0012 on z
2011-01-04T11:45:45.244079, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:45.245735, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=71.911224, end=77.314774, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:45:45.247440, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:45.249287, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:45.285414, servo, servo - operation 0x0012 on wrist
2011-01-04T11:45:45.287370, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:45.289045, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:45:45.290784, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:45.292828, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:45:45.294432, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:45.294804, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:45.310706, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:45.334541, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:45.427907, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:45.428288, servo, srv get_profile_resp: track final pos=9972 ta
chs (9209 mils, 60.829197 rads), distance=9 mils, srv_status=0, result code=0
2011-01-04T11:45:45.442206, service-metrics, track, Time 0.000295:0.000347:0.000
498(Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:45.449675, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:45.819117, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:45.819465, servo, srv get_profile_resp: z final pos=24545 tachs
(5681 mils, 77.110573 rads), distance=383 mils, srv_status=0, result code=0
2011-01-04T11:45:45.828536, service-metrics, z, Time 0.000244:0.000397:0.000866(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:45.832139, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:45.839386, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 9211,5680,152 (mils)
2011-01-04T11:45:45.840892, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:45:45.842497, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,3 -> calibrated=1, retarget=0, top TZW=77,-173,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:45:45.842945, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,4,3, targ offsets (sign co
rrected) top:bot(TZW)=77,-173,-60:0,0,0 (mils)
2011-01-04T11:45:45.846164, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:45:45.846456, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=9138,6645,213 cal positions(TZW)=9215
,6472,153 (mils)
2011-01-04T11:45:45.848266, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:45:45.849719, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_END_OFFSET_Z, dim_value = 0 (mils)
2011-01-04T11:45:45.850009, robot-cmo, cmo_move_arm_z_scan_req: commanding arm t
o (Z) 6476 (mils)
2011-01-04T11:45:45.850256, servo, srv_user_move_mech_z_scan_req: scanType=3, to
6476 (mils)
2011-01-04T11:45:45.853800, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:45.866457, servo, servo - operation 0x0012 on z
2011-01-04T11:45:45.868164, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:45.869792, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=77.110573, end=87.901970, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:45:45.871318, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:45.871890, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:46.607176, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:46.607526, servo, srv get_profile_resp: z final pos=27926 tachs
(6463 mils, 87.732323 rads), distance=783 mils, srv_status=0, result code=0
2011-01-04T11:45:46.616435, service-metrics, z, Time 0.000242:0.000408:0.000950(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:46.619992, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:47.685721, robot-cmo, cmo_user_audit_cell_scan failed: read_sta
tus=1, read_result.code=0, robot_status=0 robot_result.code=0
2011-01-04T11:45:47.686142, robot, cmo_eval_op_state START: cmo_status=2, operat
ion=2, code=0, operationalState=0
2011-01-04T11:45:47.687595, robot, cmo_eval_op_state checking to see if cart pre
sent will be over-ridden by grip position
2011-01-04T11:45:47.687874, robot, cmo_eval_op_state sensor read - Reach Safe:1,
Cartridge Present:0
2011-01-04T11:45:47.689310, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:47.689625, robot, cmo_eval_op_state END: cmo_status=2, operatio
n=2, code=0, operationalState=0
2011-01-04T11:45:47.691216, robot, directorUserAuditData: Addr: (LMRC) 0,1,4,3,
Label:, Present:0, Upside Down:0, Magazine Absent:0
2011-01-04T11:45:47.691487, robot,
Last chunk=false
2011-01-04T11:45:47.712762, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:45:47.714373, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,5,3 -> calibrated=1, retarget=0, top TZW=77,-173,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:45:47.714773, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,5,3, targ offsets (sign co
rrected) top:bot(TZW)=77,-173,-60:0,0,0 (mils)
2011-01-04T11:45:47.716408, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:45:47.716682, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=9138,7685,213 cal positions(TZW)=9215
,7512,153 (mils)
2011-01-04T11:45:47.718135, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:45:47.718435, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_START_OFFSET_Z, dim_value = -780 (mils)
2011-01-04T11:45:47.719882, robot-cmo, cmo_move_arm: commanding arm to (TZW) 921
5,6736,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:45:47.720217, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:47.741490, servo, servo - operation 0x0012 on track
2011-01-04T11:45:47.743503, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:47.745176, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=60.871899, end=60.865799, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:45:47.745654, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:47.747287, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:45:47.748916, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:47.749252, servo, srv get_profile_resp: track final pos=9979 ta
chs (9215 mils, 60.871899 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:47.759736, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:47.790593, servo, servo - operation 0x0012 on z
2011-01-04T11:45:47.792340, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:47.793899, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=87.732323, end=91.429985, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:45:47.795551, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:47.796128, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:47.824850, servo, servo - operation 0x0012 on wrist
2011-01-04T11:45:47.826755, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:47.828509, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:45:47.830223, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:47.832138, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:45:47.833978, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:47.835644, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:47.850225, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:47.875303, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:47.879069, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:48.298737, robot, srv_utils_isr_get_response: Recieved Response
et Pending, pending=1
2011-01-04T11:45:51.738133, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:45:51.739950, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:51.741871, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:51.750741, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:51.765399, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:51.772276, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:52.316649, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:52.316999, servo, srv get_profile_resp: z final pos=38892 tachs
(9001 mils, 122.183105 rads), distance=459 mils, srv_status=0, result code=0
2011-01-04T11:45:52.325912, service-metrics, z, Time 0.000237:0.000393:0.000549(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:52.329468, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:52.333082, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 9214,9001,152 (mils)
2011-01-04T11:45:52.334611, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:45:52.336526, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,7,3 -> calibrated=1, retarget=0, top TZW=77,-173,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:45:52.337081, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,7,3, targ offsets (sign co
rrected) top:bot(TZW)=77,-173,-60:0,0,0 (mils)
2011-01-04T11:45:52.338593, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:45:52.340071, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=9138,9965,213 cal positions(TZW)=9215
,9792,153 (mils)
2011-01-04T11:45:52.340637, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:45:52.342176, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_END_OFFSET_Z, dim_value = 0 (mils)
2011-01-04T11:45:52.343949, robot-cmo, cmo_move_arm_z_scan_req: commanding arm t
o (Z) 9796 (mils)
2011-01-04T11:45:52.345564, servo, srv_user_move_mech_z_scan_req: scanType=3, to
9796 (mils)
2011-01-04T11:45:52.346012, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:52.359846, servo, servo - operation 0x0012 on z
2011-01-04T11:45:52.362040, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:52.364013, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=122.183105, end=132.968216, direction=1, end_seg=2, lead_on_dece
l=0
2011-01-04T11:45:52.365890, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:52.369227, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:53.103080, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:53.103428, servo, srv get_profile_resp: z final pos=42275 tachs
(9784 mils, 132.811142 rads), distance=783 mils, srv_status=0, result code=0
2011-01-04T11:45:53.112261, service-metrics, z, Time 0.000243:0.000404:0.000554(
RC) 0,1,1,4 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:58.931755, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,1,4 -> top TZW=72,-121,-60, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:58.933760, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,4 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:58.935406, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,1,4 -> top TZW=72,-121,-60, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:58.942879, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,4 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:58.973002, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,1,4 -> top TZW=13,8,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:58.974934, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,4 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:58.976631, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,1,4 -> top TZW=53,-129,-61, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:58.978549, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,4 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:58.980238, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,1,4 -> top TZW=65,-129,-61, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:58.982141, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,4 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:58.985496, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,4 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:58.987449, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,4 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:58.989102, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,1,4 -> top TZW=72,-121,-60, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:58.991101, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,4 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:58.992849, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,1,4 -> top TZW=72,-121,-60, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:58.994797, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,4 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:58.996427, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,1,4 -> top TZW=72,-121,-60, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:59.003873, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,4 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:59.005605, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,1,4 -> top TZW=13,8,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:59.007445, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,4 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:59.009142, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,1,4 -> top TZW=53,-129,-61, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:59.010977, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,4 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:59.012747, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,1,4 -> top TZW=65,-129,-61, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:59.014347, robot, cmo_eval_op_state START: cmo_status=0, operat
ion=3, code=0, operationalState=0
2011-01-04T11:45:59.014847, robot, cmo_eval_op_state checking to see if cart pre
sent will be over-ridden by grip position
2011-01-04T11:45:59.016518, robot, cmo_eval_op_state sensor read - Reach Safe:1,
Cartridge Present:0
2011-01-04T11:45:59.018158, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:59.018687, robot, cmo_eval_op_state END: cmo_status=0, operatio
n=3, code=0, operationalState=0
2011-01-04T11:45:59.021709, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,2,4 -> calibrated=1, retarget=0, top TZW=72,-121,-60, bottom TZW=0,0,0 (
mils)
RC) 0,1,4,4 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:46:06.531123, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,4,4 -> top TZW=45,-168,-61, bottom TZW=0,0,0 (mils)
2011-01-04T11:46:06.532924, robot, cmo_eval_op_state START: cmo_status=0, operat
ion=3, code=0, operationalState=0
2011-01-04T11:46:06.533418, robot, cmo_eval_op_state checking to see if cart pre
sent will be over-ridden by grip position
2011-01-04T11:46:06.534997, robot, cmo_eval_op_state sensor read - Reach Safe:1,
Cartridge Present:0
2011-01-04T11:46:06.536694, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:06.538302, robot, cmo_eval_op_state END: cmo_status=0, operatio
n=3, code=0, operationalState=0
2011-01-04T11:46:06.540137, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,5,4 -> calibrated=1, retarget=0, top TZW=57,-163,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:46:06.541938, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,6,4 -> calibrated=1, retarget=0, top TZW=57,-163,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:46:06.544087, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,7,4 -> calibrated=1, retarget=0, top TZW=57,-163,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:46:06.545837, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:46:06.547734, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,4 -> calibrated=1, retarget=0, top TZW=72,-121,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:46:06.549481, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,1,4, targ offsets (sign co
rrected) top:bot(TZW)=72,-121,-60:0,0,0 (mils)
2011-01-04T11:46:06.551131, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:46:06.552734, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=13608,3170,213 cal positions(TZW)=136
80,3049,153 (mils)
2011-01-04T11:46:06.554477, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:46:06.555015, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_START_OFFSET_Z, dim_value = -780 (mils)
2011-01-04T11:46:06.556625, robot-cmo, cmo_move_arm: commanding arm to (TZW) 136
80,2273,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:46:06.558353, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:06.574623, servo, servo - operation 0x0012 on track
2011-01-04T11:46:06.576383, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:06.577915, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=90.237297, end=90.365395, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:46:06.578425, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:06.580133, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:46:06.601610, servo, servo - operation 0x0012 on z
2011-01-04T11:46:06.603624, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:06.605212, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=118.309509, end=30.850512, direction=-1, end_seg=2, lead_on_dece
l=0
2011-01-04T11:46:06.606877, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:06.608709, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:46:06.636123, servo, servo - operation 0x0012 on wrist
2011-01-04T11:46:06.639533, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:06.641283, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:46:06.643215, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:06.645141, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:46:06.648353, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:06.648704, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:46:06.704484, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:46:06.711778, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:06.816261, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:06.817908, servo, srv get_profile_resp: track final pos=14794 t
achs (13661 mils, 90.243401 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:46:06.829082, service-metrics, track, Time 0.000297:0.000367:0.000
770(Min:Avg:Max secs), MSI's=0
2011-01-04T11:46:06.834380, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:08.384936, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:08.385286, servo, srv get_profile_resp: z final pos=9788 tachs
(2265 mils, 30.749981 rads), distance=6451 mils, srv_status=0, result code=0
2011-01-04T11:46:08.394207, service-metrics, z, Time 0.000243:0.000436:0.000953(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:46:08.397774, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:08.404999, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 13682,2265,152 (mils)
2011-01-04T11:46:08.405311, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:46:08.407154, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,4 -> calibrated=1, retarget=0, top TZW=72,-121,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:46:08.408897, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,1,4, targ offsets (sign co
rrected) top:bot(TZW)=72,-121,-60:0,0,0 (mils)
2011-01-04T11:46:08.410498, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:46:08.410749, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=13608,3170,213 cal positions(TZW)=136
80,3049,153 (mils)
2011-01-04T11:46:08.414178, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:46:08.415672, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_END_OFFSET_Z, dim_value = 0 (mils)
2011-01-04T11:46:08.415959, robot-cmo, cmo_move_arm_z_scan_req: commanding arm t
o (Z) 3053 (mils)
2011-01-04T11:46:08.417737, servo, srv_user_move_mech_z_scan_req: scanType=3, to
3053 (mils)
2011-01-04T11:46:08.419379, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:08.433822, servo, servo - operation 0x0012 on z
2011-01-04T11:46:08.435538, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:19.870981, robot,
Last chunk=false
2011-01-04T11:46:19.883516, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:46:19.885072, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,6,4 -> calibrated=1, retarget=0, top TZW=57,-163,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:46:19.885481, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,6,4, targ offsets (sign co
rrected) top:bot(TZW)=57,-163,-60:0,0,0 (mils)
2011-01-04T11:46:19.885763, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:46:19.887195, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=13608,8725,213 cal positions(TZW)=136
65,8562,153 (mils)
2011-01-04T11:46:19.887551, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:46:19.888937, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_START_OFFSET_Z, dim_value = -780 (mils)
2011-01-04T11:46:19.889216, robot-cmo, cmo_move_arm: commanding arm to (TZW) 136
65,7786,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:46:19.890661, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:19.910959, servo, servo - operation 0x0012 on track
2011-01-04T11:46:19.912788, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:19.914224, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=90.261696, end=90.261696, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:46:19.915807, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:19.917588, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:46:19.917975, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:19.919411, servo, srv get_profile_resp: track final pos=14797 t
achs (13664 mils, 90.261696 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:46:19.928947, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:46:19.961056, servo, servo - operation 0x0012 on z
2011-01-04T11:46:19.962892, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:19.964437, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=102.004608, end=105.683418, direction=1, end_seg=2, lead_on_dece
l=0
2011-01-04T11:46:19.964922, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:19.966645, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:46:19.993730, servo, servo - operation 0x0012 on wrist
2011-01-04T11:46:19.995721, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:19.997336, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:46:19.999069, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:20.001064, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:46:20.002800, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:20.004449, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:46:20.018909, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
et Pending, pending=1
2011-01-04T11:46:25.615020, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:46:25.643731, servo, servo - operation 0x0012 on wrist
2011-01-04T11:46:25.645672, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:25.647457, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.366400, end=126.721397, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:46:25.649200, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:25.651143, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:46:27.394527, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:27.394877, servo, srv get_profile_resp: z final pos=14337 tachs
(3318 mils, 45.041119 rads), distance=6477 mils, srv_status=0, result code=0
2011-01-04T11:46:27.403853, service-metrics, z, Time 0.000244:0.000432:0.000842(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:46:27.407404, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:27.426989, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:27.427340, servo, srv get_profile_resp: wrist final pos=20782 t
achs (14209 mils, 126.770195 rads), distance=14056 mils, srv_status=0, result co
de=0
2011-01-04T11:46:27.436205, service-metrics, wrist, Time 0.000242:0.000420:0.000
732(Min:Avg:Max secs), MSI's=0
2011-01-04T11:46:27.439814, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:27.452509, servo, servo - operation 0x0012 on track
2011-01-04T11:46:27.454346, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:27.455852, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=84.716797, end=89.889595, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:46:27.456332, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:27.458081, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:46:27.943067, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:27.944520, servo, srv get_profile_resp: track final pos=14721 t
achs (13594 mils, 89.798096 rads), distance=769 mils, srv_status=0, result code=
0
2011-01-04T11:46:27.952131, service-metrics, track, Time 0.000294:0.000428:0.000
577(Min:Avg:Max secs), MSI's=0
2011-01-04T11:46:27.957060, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:27.962740, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 13592,3318,14201 (mils)
2011-01-04T11:46:28.166422, robot, scanUserTarget: Returning target bars=21, ret
urnVal=0, code=0, targetReadTime=0.200279
2011-01-04T11:46:28.213262, robot, targetValid(): Valid Run Length Exceeded, max
= 19, runLength = 21
2011-01-04T11:46:28.410278, robot, scanUserTarget: Returning target bars=13, ret
urnVal=0, code=0, targetReadTime=0.194719
2011-01-04T11:46:28.633970, robot, scanUserTarget: Returning target bars=13, ret
urnVal=0, code=0, targetReadTime=0.195216
2011-01-04T11:46:28.662400, robot-cmo, cmo_move_arm: commanding arm to (TZW) 136
08,3379,14204 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:46:28.664217, robot, srv_user_is_reach_safe: cart present sensor=0
mech=2
2011-01-04T11:46:38.143249, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:38.144917, servo, srv get_profile_resp: wrist final pos=20774 t
achs (14203 mils, 126.721397 rads), distance=0 mils, srv_status=0, result code=0
AMCC PowerPC 405GP Rev. E at 198 MHz (PLB=99, OPB=49, EBC=33 MHz)
Internal PCI arbiter enabled, PCI async ext clock used
16 kB I-Cache 8 kB D-Cache
RLC DRAM size: 128
H/W rev 0
I2C: ready
DRAM: 128 MB
FLASH: 32 MB
*** Warning - bad CRC, using default environment
PCI:
2.4.18_mvl30
Amd/Fujitsu Extended Query Table at 0x0040
while this kerneId Card Flash: CFI does not contain boot bank location. Assuming
top.
l is version 2.4number of CFI chips: 1
.18-030
WarningUsing page write method
: loading rlc_secfi_cmdset_0002: Disabling fast programming due to code brokenne
ss.
rvo will taint tId Card Flash: Found 1 x16 devices at 0x0 in 8-bit mode
he kernel: no li Amd/Fujitsu Extended Query Table at 0x0040
cense
See httId Card Flash: CFI does not contain boot bank location. Assuming top.
p://www.tux.org/number of CFI chips: 1
lkml/#export-taiUsing page write method
nted for informacfi_cmdset_0002: Disabling fast programming due to code brokenne
ss.
tion about taintcmdlinepart partition parsing not available
ed modules
WarnRedBoot partition parsing not available
ing: loading rlcUsing physmap partition definition
_servo will tainCreating 3 MTD partitions on "Id Card Flash":
t the kernel: fo0x00000000-0x007fffff : "Id Card General Use"
rced load
Using0x00800000-0x01feffff : "Id Card raw space"
/lib/modules/2.0x01ff0000-0x01ffffff : "protected space"
4.18/rlc_scan.o
insmod: Warning: kernel-module version mismatch
/lib/modules/2.4.18/rlc_scan.o was compiled for kernel version 2.4.18_mv
l30
while this kernel is version 2.4.18-030
Warning: loading rlc_scan will taint the kernel: no license
See http://www.tux.org/lkml/#export-tainted for information about tainted modu
les
Warning: loading rlc_scan will taint the kernel: forced load
Using /lib/modules/2.4.18/scsi_tgt.o
insmod: Warning: kernel-module version mismatch
/lib/modules/2.4.18/scsi_tgt.o was compiled for kernel version 2.4.18_mv
l30
while this kernel is version 2.4.18-030
Warning: loading scsi_tgt will taint the kernel: no license
See http://www.tux.org/lkml/#export-tainted for information about tainted modu
les
Warning: loading scsi_tgt will taint the kernel: forced load
Using /lib/modules/2.4.18/hwMonitor.o
insmod: Warning: kernel-module version mismatch
/lib/modules/2.4.18/hwMonitor.o was compiled for kernel version 2.4.18_m
vl30
while this kernel is version 2.4.18-030
Warning: loading hwMonitor will taint the kernel: no license
See http://www.tux.org/lkml/#export-tainted for information about tainted modu
les
Warning: loading hwMonitor will taint the kernel: forced load
Using /lib/modules/2.4.18/rlcIdcard_physmap.o
insmod: Warning: kernel-module version mismatch
/lib/modules/2.4.18/rlcIdcard_physmap.o was compiled for kernel version
2.4.18_mvl30
while this kernel is version 2.4.18-030
Warning: loading rlcIdcard_physmap will taint the kernel: forced load
See http://www.tux.org/lkml/#export-tainted for information about tainted modu
les
Using /lib/modules/2.4.18/ralloc.o
insmod: Warning: kernel-module version mismatch
/lib/modules/2.4.18/ralloc.o was compiled for kernel version 2.4.18_mvl3
0
while this kernel is version 2.4.18-030
Warning: loading ralloc will taint the kernel: no license
See http://www.tux.org/lkml/#export-tainted for information about tainted modu
les
Warning: loading ralloc will taint the kernel: forced load
0
: expandapps() Expanding /mnt/flash/snmp.tarball /usr/local
16270+1 records in
16270+1 records out
0
: expandapps() Unzipped and extracted /usr/local/temp.tar.gz successful
ly
0
: crammount() Mounting /mnt/flash/libs.cramfs /dev/ram2 /mnt/libs
41984+0 records in
41984+0 records out
0
: crammount() Mounted /mnt/flash/libs.cramfs successfully
ln: /usr/share/terminfo/x: No such file or directory
root: /dev/nvram e2fsck check:
/dev/nvram was not cleanly unmounted, check forced.
/dev/nvram: Inode 13, i_blocks is 32, should be 20. FIXED.
/dev/nvram: Inode 28, i_blocks is 20, should be 10. FIXED.
/dev/nvram: /lost+found not found. CREATED.
/dev/nvram: 47/1024 files (4.3% non-contiguous), 202/1023 blocks
root: Mounting /mnt/nvram
/dev/nvram on /mnt/nvram type ext2 (rw)
root: /dev/nvram is cleaned up
Loading packet filters
INIT: Entering runlevel: 3
root: Setting network parameters:
root: Bringing up interface: eth0
opening eth0 on emac 0
eth0: IBM EMAC: link up, 100 Mbps Full Duplex, auto-negotiation complete.
eth0: IBM EMAC: MAC 00:10:4f:07:72:81.
eth0: IBM EMAC: open completed
root: Bringing up interface: eth1
root: Bringing up interface: lo
Starting portmap daemon: portmap.
root: Starting system log daemon: syslogd
root: Starting system log daemon: klogd
Starting internet superserver: inetd.
root: Starting NTP server: /usr/sbin/cronyd
ssh: Starting OpenBSD Secure Shell server:
ssh: sshd
ssh: done.
snmp: Starting SNMP trap daemon: snmptrapd
snmp: Starting SNMP agent daemon (AgentX master): snmpd
snmp: Starting SNMP agent daemon (AgentX subagent): snmpdX
snmp: Starting SNMP sub-agent daemon: snmpsubd
Preparing the file system for the stklog daemon
root: /etc/rc.d/rc3.d/S85apps: Prestart of the STK Applications!
root: /etc/rc.d/rc3.d/S85apps: Reset the Local OpPanel Hardware
root: /etc/init.d/mount_app_filesys: Mounting filesystems/Starting STK applicati
ons.
root: expandapps() Expanding /mnt/flash/green.tarball /usr/local/bin
97634+1 records in
97634+1 records out
AMCC PowerPC 405GP Rev. E at 198 MHz (PLB=99, OPB=49, EBC=33 MHz)
Internal PCI arbiter enabled, PCI async ext clock used
16 kB I-Cache 8 kB D-Cache
RLC DRAM size: 128
H/W rev 0
I2C: ready
DRAM: 128 MB
FLASH: 32 MB
*** Warning - bad CRC, using default environment
PCI:
>TERM=linux<
we are changing root to device 256
buf = 256
Done with linuxrc...
Freeing unused kernel memory: 64k init
INIT: version 2.78 booting
Using /lib/modules/2.4.18/rlcfpga.o
insmod: Warning: kernel-module version mismatch
/lib/modules/2.4.18/rlcfpga.o was compiled for kernel version 2.4.18_mvl
30
while this kernel is version 2.4.18-030
Warning: loading rlcfpga will taint the kernel: no license
See http://www.tux.org/lkml/#export-tainted for information about tainted modu
les
Warning: loading rlcfpga will taint the kernel: forced load
Useth1: PCI device 8086:1209, ing /lib/modulesBA:/2.4.18/i82559etBE:h.o
insmod: WarBE:ning: kernel-mod00:ule version mism00:atch
/lib/modu01, les/2.4.18/i8255IRQ 26.
9eth.o was compi General self-test: passed.
led for kernel v Serial sub-system self-test: passed.
ersion 2.4.18_mv Internal registers self-test: passed.
l30
while this ROM checksum self-test: passed (0x1d68d8db).
kernel is versi Receiver lock-up workaround activated.
on 2.4.18-030
Warning: loading i82559eth will taint the kernel: forced load
See http://www.tux.org/lkml/#expNVRAM bank size is 2MB
ort-tainted for information about tainted modules
Using /lib/modules/2.4.18/nvram.o
insmod: Warning: kernel-mosysfru: installed driver REV(1.01)
dule version mismatch
/lib/modules/2.4.18/nvram.o was compiled for kernel version 2.4.18_mvl30
while this kephysmap flash device: 2000000 at fe000000
rnel is version 2.4.18-030
WarnPhysically mapped flash: Found 1 x16 devices at 0x0 in 8-bit mode
ing: loading nvr Amd/Fujitsu Extended Query Table at 0x0040
am will taint thPhysically mapped flash: CFI does not contain boot bank location
. Assuming top.
e kernel: no licnumber of CFI chips: 1
ense
See httpUsing page write method
://www.tux.org/lcfi_cmdset_0002: Disabling fast programming due to code brokenne
ss.
kml/#export-taincmdlinepart partition parsing not available
ted for informatRedBoot partition parsing not available
ion about tainteUsing physmap partition definition
d modules
WarniCreating 6 MTD partitions on "Physically mapped flash":
ng: loading nvra0x00000000-0x01deffff : "ELIB work space"
m will taint the0x01df0000-0x01f2ffff : "Root disk image"
kernel: forced 0x01f30000-0x01fdffff : "Linux kernel"
load
Using /lib0x01fe0000-0x01ffffff : "PPCBoot"
/modules/2.4.18/0x00000000-0x01fbffff : "JFFS2 space"
sysfru.o
insmod0x01fc0000-0x01ffffff : "U-Boot"
: Warning: kernel-module version mismatch
/lib/modules/2.4.18/sysfru.o was compiled for kernel version 2.4.18_mvl3
0
while this kernel is version 2.4.18-030
Warning: loading sysfru will taint the kernel: no license
See http://www.tux.org/lkml/#export-tainted for information about tainted modu
les
Warning: loading sysfru will taint the kernel: forced load
Using /lib/modules/2.4.18/mtd.o
insmod: Warning: kernel-module version mismatch
/lib/modules/2.4.18/mtd.o was compiled for kernel version 2.4.18_mvl30
while this kernel is version 2.4.18-030
Warning: loading mtd will tain/dev/scsi_tgt0 -- Found QLogic 0x2300 device!
t the kernel: fo/dev/scsi_tgt0 -- resource start = 0xfe00
rced load
See/dev/scsi_tgt0 -- resource end = 0xfeff
http://www.tux.org/lkml/#export-tainted for information about tainted modules
Using /lib/modules/2.4.18/rlc_servo.o
insmod: Warning: kernel-module version mismatch
/lib/modules/2.4.18/rlc_servo.o was compiled for kernel version 2.4.18_I
d Card Flash: Found 1 x16 devices at 0x0 in 8-bit mode
mvl30
while th Amd/Fujitsu Extended Query Table at 0x0040
is kernel is verId Card Flash: CFI does not contain boot bank location. Assuming
top.
number of CFI chips: 1
Warning: loadinUsing page write method
g rlc_servo willcfi_cmdset_0002: Disabling fast programming due to code brokenne
ss.
taint the kerneId Card Flash: Found 1 x16 devices at 0x0 in 8-bit mode
l: no license
Amd/Fujitsu Extended Query Table at 0x0040
See http://www.Id Card Flash: CFI does not contain boot bank location. Assuming
top.
tux.org/lkml/#exnumber of CFI chips: 1
port-tainted forUsing page write method
information abocfi_cmdset_0002: Disabling fast programming due to code brokenne
ss.
ut tainted modulcmdlinepart partition parsing not available
es
Warning: loaRedBoot partition parsing not available
ding rlc_servo wUsing physmap partition definition
ill taint the keCreating 3 MTD partitions on "Id Card Flash":
rnel: forced loa0x00000000-0x007fffff : "Id Card General Use"
d
Using /lib/mo0x00800000-0x01feffff : "Id Card raw space"
dules/2.4.18/rlc0x01ff0000-0x01ffffff : "protected space"
_scan.o
insmod: Warning: kernel-module version mismatch
/lib/modules/2.4.18/rlc_scan.o was compiled for kernel version 2.4.18_mv
l30
while this kernel is version 2.4.18-030
Warning: loading rlc_scan will taint the kernel: no license
See http://www.tux.org/lkml/#export-tainted for information about tainted modu
les
Warning: loading rlc_scan will taint the kernel: forced load
Using /lib/modules/2.4.18/scsi_tgt.o
insmod: Warning: kernel-module version mismatch
/lib/modules/2.4.18/scsi_tgt.o was compiled for kernel version 2.4.18_mv
l30
while this kernel is version 2.4.18-030
OK
Connection to localhost closed.
Welcome. Tue Jan 4 2011 12:19:48
Welcome. Tue Jan 4 2011 11:42:44
sl502 login:
Welcome. Tue Jan 4 2011 11:42:44
sl502 login: service
The authenticity of host 'localhost (127.0.0.1)' can't be established.
RSA key fingerprint is cd:7a:67:31:20:3f:21:38:9f:d4:83:30:ce:38:b8:45.
Are you sure you want to continue connecting (yes/no)? yes
Warning: Permanently added 'localhost' (RSA) to the list of known hosts.
Password:
Starting your CLI session ... (this may take a few seconds)
You are the only client
SERVICE>> help
usage: help <topic>
help all
OK
SERVICE>> help all
address < <library> | host | <host partition> >
This command translates the given address to the other format.
If you enter the library address you will get a host address.
If you enter a host address you will get a library address.
A library address is specified as L,M,R,C.
If partitioning is in effect, the partition number must follow the host addre
ss.
The host address is specified as decimal or hex with a leading '0x'.
Example: 'address 500' or 'address 0x1fe' or 'address 0,1,4,2'
Example: 'address 500 2' for the host address 500 in partition 2
autoclean print
Show the library's current 'autoclean' option setting
autoclean <on|off>
Set the 'autoclean on/off' option.
This option controls whether or not the library performs drive cleaning
automatically or not.
Setting option to 'on' will drives to be automatically cleaned when
needed.
Setting option to 'off' will disable automatic drive cleaning.
If the host software is handling drive cleaning the option should be off.
cap <module#> <io|storage>
Configure the specified module's CAP as I/O or as storage cells.
capconfig print
Display CAP configuration.
cartridge print
Show location, volser, and media type for all cartridges.
cartridge print reserved
Show location, volser, and media type for reserved cartridges.
cleancartcount print
Show the library's current list of cleaning cartridges and cleaning counts.
cleancartcount <label> <count>
Set the number of cleans for a given cartridge label.
recalibrate all
Recalibrate the entire library.
reserved print
Show the library's current reserved cell count.
reserved <number of cells>
Set the maximum number of reserved(playground) library storage cells
in the library.
resetdefaults
Reset library defaults: admin password='', CAPs = I/O,
barcode is 6 characters (left6) left aligned for host,
barcode is 8 characters (left8) left aligned for oppanel,
reserved slots = 0, inventory mode is labels required,
service inventory set to off.
resetoppanel
Cause a hard Op Panel reset to occur.
resetpw <admin> | <oem> | <service> | <oppanel> | <all>
Places the specified login password back to the -needs activatedstate. This is used to recover forgotten passwords.
scanaudit print
Show the library's current 'scanaudit' option setting
scanaudit <on|off>
Set the 'scanaudit on/off' option.
This option controls whether or not the library performs a scanning audit.
Setting option to 'on' will casue scanning audits. This is the default.
Setting option to 'off' will disable scanning audits.
Hard to read labels are more difficult to read with scanning audit,
but it is faster than reading each individual location.
serviceinfo clear
WARNING: Clears ALL service contact information.
serviceinfo print
Display service contact information.
serviceinfo set contact '<contactString>' |
streetAddr '<streetAddrString>' |
city '<cityString>' |
state '<stateString>' |
country '<countryString>' |
zip '<zipString>' |
description '<locationString>' |
phone '<phoneString>' |
pager '<pagerString>' |
email '<emailString>' |
assetnumber '<assetNumString>' |
Sets the service contact information, library location
information, library assetnumber, and library location
description
session timeout <minutes>
Sets the timeout of this session. If no characters are typed
within this time frame, the user is logged off.
shutdown
Orderly shutdown of library
snmp addTrapRecipient
trapLevel <trapLevelString>
host <hostName | hostAddr>
version <v2c community <communityString>
|
v3 name <trapUserName>
auth <MD5 | SHA>
authPass <authPassPhrase>
2011-01-03T03:03:12.583,
0.0.9.0.2, 506,
robot, /usr/local/bin/I
fm, error, 0000, 5069, "Director - putResponse() servo mech reach event 5069 at
4576 tachs, 4212 mils"
2011-01-03T03:03:12.639,
0.0.0.0.0, 3202,
ifm,
, error, 3000, 3313, "(request id = HOST/0x101e2df8) IfmMove::doPut(): move ba
ck to source from (LMRC) 0,1,2,9 failed, going inop by default"
2011-01-03T03:03:12.942,
0.0.0.0.0, 3202,
ifm,
, error, 3000, 3313, "(request id = HOST/0x101e2df8) IfmMove::commonMoveComman
d(): PUT request of tape 000146L3 from (LMRC) 0,1,1,2 to (LMRC) 0,1,2,9 failed:"
2011-01-03T17:31:51.846,
0.0.0.1.0, 514,
robot, /usr/local/bin/I
fm, error, 0000, 0000, "Director - initResponse() DIRECTOR - failure setting ha
ndbot map Size: cfg_status = 8; Initialize: failure setting modules.; End of Tex
t"
2011-01-03T17:31:51.959,
0.0.0.0.0, 3202,
ifm,
, error, 0100, 3717, "IfmInitThread:Failure to Initialize...reason==Robot init
ialization failed - GOING INOP"
2011-01-03T17:37:44.660,
0.0.0.1.0, 514,
robot, /usr/local/bin/I
fm, error, 0000, 0000, "Director - initResponse() Initialize: Bad z range.; Ini
tialize: failed general init routine.; End of Text"
2011-01-03T17:37:44.737,
0.0.0.0.0, 3202,
ifm,
, error, 0100, 3717, "IfmInitThread:Failure to Initialize...reason==Robot init
ialization failed - GOING INOP"
2011-01-04T09:29:01.290,
0.0.0.1.0, 514,
robot, /usr/local/bin/I
fm, error, 0000, 0000, "Director - initResponse() Initialize: Bad z range.; Ini
tialize: failed general init routine.; End of Text"
2011-01-04T09:29:01.338,
0.0.0.0.0, 3202,
ifm,
, error, 0100, 3717, "IfmInitThread:Failure to Initialize...reason==Robot init
ialization failed - GOING INOP"
log_warning:
=======================
2010-11-25T13:47:45.445,
0.0.0.0.0, 000,
opel-server,
, warn, 0000, 0000, "rb_Reboot::reboot(): Resetting drive [0,1,1,9]"
2010-11-25T13:47:59.185,
0.0.0.0.0, 000,
opel-server,
, warn, 0000, 0000, "rb_Reboot::reboot(): Resetting drive [0,1,2,9]"
2010-11-25T13:48:12.773,
0.0.0.0.0, 000,
opel-server,
, warn, 0000, 0000, "rb_Reboot::reboot(): Calling sys_reboot()..."
2010-11-25T13:48:12.835,
0.0.0.0.0, 000,
sys,
, warn, 0000, 0000, "sys_reboot(): system reboot invoked. Calling reboot()..."
2010-11-25T13:52:23.117,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "No HW Config CAP label for Base unit, assuming LTO module
."
2010-11-26T09:14:48.260,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for z"
2010-11-26T09:16:07.649,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for z"
2010-11-26T09:16:31.343,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5051, "Asynchronous event for reach: Door Opened"
2010-11-26T09:23:25.143,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "No HW Config CAP label for Base unit, assuming LTO module
."
2010-12-03T09:21:05.089,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for z"
2010-12-03T09:21:27.590,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5051, "Asynchronous event for reach: Door Opened"
2010-12-03T09:29:50.907,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "No HW Config CAP label for Base unit, assuming LTO module
."
2010-12-10T08:55:46.600,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for z"
2010-12-10T08:55:53.778,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5051, "Asynchronous event for reach: Door Opened"
2010-12-10T09:01:25.946,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "No HW Config CAP label for Base unit, assuming LTO module
."
2010-12-17T09:10:38.469,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for z"
2010-12-17T09:10:46.498,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5051, "Asynchronous event for reach: Door Opened"
2010-12-17T09:25:52.067,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "No HW Config CAP label for Base unit, assuming LTO module
."
2010-12-21T14:05:32.992,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "CAP in module 1, shows closed after attempting to open"
2010-12-21T14:05:53.926,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "CAP in module 1, shows closed after attempting to open"
2010-12-21T14:06:13.466,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "CAP in module 1, shows closed after attempting to open"
2010-12-21T14:06:38.960,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for z"
2010-12-21T14:06:47.715,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5051, "Asynchronous event for reach: Door Opened"
2010-12-21T14:09:13.517,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "No HW Config CAP label for Base unit, assuming LTO module
."
2010-12-21T14:11:35.930,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for z"
2010-12-21T14:17:36.019,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "No HW Config CAP label for Base unit, assuming LTO module
."
2010-12-23T09:14:20.212,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for z"
2010-12-23T09:14:29.047,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5051, "Asynchronous event for reach: Door Opened"
2010-12-23T09:28:08.219,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "No HW Config CAP label for Base unit, assuming LTO module
."
2010-12-30T09:53:00.421,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for z"
2010-12-30T09:53:08.259,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5051, "Asynchronous event for reach: Door Opened"
2010-12-30T10:01:27.589,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "No HW Config CAP label for Base unit, assuming LTO module
."
2011-01-03T03:02:45.155,
0.0.9.0.2, 000,
robot-cmo,
, warn, 0000, 0000, "Performed put retry. Put retry total = 1. Address for thi
s retry (LMRC) 0,1,2,9"
2011-01-03T03:02:52.425,
0.0.9.0.2, 000,
robot-cmo,
, warn, 0000, 0000, "Performed put retry. Put retry total = 2. Address for thi
s retry (LMRC) 0,1,2,9"
2011-01-03T03:02:59.465,
0.0.9.0.2, 000,
robot-cmo,
, warn, 0000, 0000, "Performed put retry. Put retry total = 3. Address for thi
s retry (LMRC) 0,1,2,9"
2011-01-03T03:03:06.686,
0.0.9.0.2, 000,
robot-cmo,
, warn, 0000, 0000, "Performed put retry. Put retry total = 4. Address for thi
s retry (LMRC) 0,1,2,9"
2011-01-03T03:03:13.169,
0.0.0.0.0, 3202,
ifm,
, warn, 0000, 3305, "IFM drive event and the Library state is unknown."
2011-01-03T17:31:52.054,
0.0.0.0.0, 3202,
ifm,
, warn, 0000, 3305, "IFM drive event and the Library state is unknown."
2011-01-03T17:31:52.134,
0.0.0.0.0, 3202,
ifm,
, warn, 0000, 3305, "IFM drive event and the Library state is unknown."
2011-01-03T17:37:44.487,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for track"
2011-01-03T17:37:44.566,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for wrist"
2011-01-03T17:37:44.647,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for reach"
2011-01-03T17:37:44.824,
0.0.0.0.0, 3202,
ifm,
, warn, 0000, 3305, "IFM drive event and the Library state is unknown."
2011-01-03T17:37:44.844,
0.0.0.0.0, 3202,
ifm,
, warn, 0000, 3305, "IFM drive event and the Library state is unknown."
2011-01-04T09:29:01.120,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for track"
2011-01-04T09:29:01.199,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for wrist"
2011-01-04T09:29:01.277,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for reach"
2011-01-04T09:29:01.425,
0.0.0.0.0, 3202,
ifm,
, warn, 0000, 3305, "IFM drive event and the Library state is unknown."
2011-01-04T09:29:01.445,
0.0.0.0.0, 3202,
ifm,
, warn, 0000, 3305, "IFM drive event and the Library state is unknown."
2011-01-04T11:36:16.804,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5051, "Asynchronous event for reach: Door Opened"
2011-01-04T11:43:50.203,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "No HW Config CAP label for Base unit, assuming LTO module
."
log_info:
=======================
2011-01-04T11:43:57.083,
0.0.0.0.0, 000, Config-License,
, info, 0000, 0000, "Processing legacy licenses"
2011-01-04T11:43:57.134,
0.0.0.0.0, 000, Config-License,
, info, 0000, 0000, "License checking - LimitedBase exists: 99001"
2011-01-04T11:44:28.345,
0.0.1.0.1, 000,
robot, /usr/local/bin/D
irector, info, 0000, 0000, "targetValid(): Valid Run Length Exceeded, max = 19
, runLength = 27"
2011-01-04T11:44:28.612,
0.0.1.0.1, 000,
robot, /usr/local/bin/D
irector, info, 0000, 0000, "targetValid(): Valid Run Length Exceeded, max = 19
, runLength = 27"
2011-01-04T11:44:29.568,
0.0.1.0.1, 000,
robot, /usr/local/bin/D
irector, info, 0000, 0000, "targetValid(): Valid Run Length Exceeded, max = 19
, runLength = 29"
2011-01-04T11:44:43.555,
0.0.0.0.0, 001, sensor-manager,
, info, 0000, 0000, "SensorPowerFuncs: doPwrSupplyState - Module 1 Power Suppl
y 1 has become operational"
2011-01-04T11:44:43.732,
0.0.0.0.0, 000,
LibMD,
, info, 0000, 0000, "Service Beacon is DEACTIVATED: Current Health Event indic
ates Power Supply 01 in Module 01 is operational"
2011-01-04T11:44:48.884,
0.0.0.0.0, 001, sensor-manager,
, info, 0000, 0000, "SensorPowerFuncs: doPwrSupplyState - Module 1 Power Suppl
y 2 has become operational"
2011-01-04T11:44:49.008,
0.0.0.0.0, 000,
LibMD,
, info, 0000, 0000, "Service Beacon is DEACTIVATED: Current Health Event indic
ates Power Supply 02 in Module 01 is operational"
2011-01-04T11:44:53.393,
0.0.2.0.1, 000,
robot, /usr/local/bin/D
irector, info, 0000, 0000, "targetValid(): Valid Run Length Exceeded, max = 19
, runLength = 23"
2011-01-04T11:44:53.641,
0.0.2.0.1, 000,
robot, /usr/local/bin/D
irector, info, 0000, 0000, "targetValid(): Valid Run Length Exceeded, max = 19
, runLength = 23"
log_diagnostic:
=======================
log_config:
=======================
2011-01-04T11:41:47.064,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Code Version in flash: 1373 (6.53.00)"
2011-01-04T11:41:47.084,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Vendor type: STK"
2011-01-04T11:41:48.441,
0.0.0.0.0, 000,
OpPanel,
, config, 0000, 0000, "No LCD display present"
2011-01-04T11:41:59.954,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Scan firmware version is SXX_302I"
2011-01-04T11:42:02.847,
0.0.0.1.0, 000,
robot,
, config, 0000, 0000, "HW Rev in scanner is 003"
2011-01-04T11:43:56.789,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Module for cap info
1, 2, 3, 4, 5, 6"
2011-01-04T11:43:56.804,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Caps installed:
1, 0, 0, 0, 0, 0"
2011-01-04T11:43:56.824,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Cap configured as caps: 1, 0, 0, 0, 0, 0"
2011-01-04T11:43:57.027,
0.0.0.0.0, 000, Config-License,
, config, 0000, 0000, "The following Licenses are stored:"
2011-01-04T11:43:57.051,
0.0.0.0.0, 000, Config-License,
, config, 0000, 0000, "SL500_license_config_99001.lsf, filedate=2009-11-24 13:25
"
2011-01-04T11:43:57.181,
0.0.0.0.0, 000, Config-License,
, config, 0000, 0000, " License Sequence:99001 with Feature name:Capacity value:
LimitedBase assigned to module:1"
2011-01-04T11:43:58.870,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Cell restrictions in effect: max_cells=30"
2011-01-04T11:43:58.892,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Reserved cells in effect: reserved count=1"
2011-01-04T11:43:58.913,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Physical modules=1, key enabled modules=1"
2011-01-04T11:43:58.941,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Module 1: Base drive CAP last"
2011-01-04T11:43:59.144,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Partition not allowed at init."
2011-01-04T11:43:59.189,
0.0.0.0.0, 1000,
host,
, config, 1201, 0000, "Host Partitioning Selected"
2011-01-04T11:43:59.379,
0.0.0.0.0, 1000,
host,
, config, 1201, 0000, "Multiple LUN partition"
2011-01-04T11:44:02.095,
0.0.0.0.0, 1000,
scsi-engine,
, config, 1200, 0000, "FIBRE TRANSPORT LAYER for /dev/scsi_tgt0"
2011-01-04T11:44:02.372,
0.0.0.0.0, 1000,
scsi-engine,
, config, 1200, 0000, "Desired Fibre Settings for port 0: hard_addressing = 0,
loop_id = 0, node_wwn = 50:01:04:f0:00:8f:16:0f, port_wwn = 50:01:04:f0:00:8f:1
6:10"
2011-01-04T11:44:02.403,
0.0.0.0.0, 1000,
host,
, config, 1201, 0000, "Device 0 - 1 host port(s) detected"
2011-01-04T11:44:03.160,
0.0.0.0.0, 1000,
scsi-engine,
, config, 1200, 0000, "Current Fibre Settings for port 0: hard_addressing = 0,
loop_id = 255, node_wwn = 50:01:04:f0:00:8f:16:0f, port_wwn = 50:01:04:f0:00:8f:
16:10"
2011-01-04T11:44:15.673,
0.0.1.0.1, 000,
robot,
, config, 0000, 0000, "Setting Shutter Speed to: 200"
2011-01-04T11:44:17.790,
0.0.1.0.1, 000,
robot,
equence="1"><command>announcePresence</command><requestId>internalActivity</requ
estId><parms><deviceType>snmp</deviceType></parms></request>
2011-01-04T11:41:43.172948, VSnmpRelay, Main: Check for announcePresence
2011-01-04T11:41:43.173383, VSnmpRelay, Main: DCI announcePresence found
2011-01-04T11:41:43.173630, VSnmpRelay, VSnmpSocketDciFileDesc: = 6
2011-01-04T11:41:43.174137, VSnmpRelay, dci sequenceNumber: = 1
2011-01-04T11:41:43.175413, VSnmpRelay, dci response: = <response sequence="1"><
command>announcePresence</command></response>
2011-01-04T11:41:43.178108, VSnmpRelay, vsnmpRelaySocketMain: CLI CHECK ISSET
2011-01-04T11:41:43.178376, VSnmpRelay, vsnmpRelaySocketMain: DCI CHECK ISSET
2011-01-04T11:41:43.208385, tti-dbg-01, vttiTask: Started for Drive 1
2011-01-04T11:41:43.209371, tti-dbg-01, vttiTask: Waiting for Request
2011-01-04T11:41:43.214138, tti-dbg-02, vttiTask: Started for Drive 2
2011-01-04T11:41:43.214442, tti-dbg-02, vttiTask: Waiting for Request
2011-01-04T11:41:43.221551, tti-dbg-03, vttiTask: Started for Drive 3
2011-01-04T11:41:43.221943, tti-dbg-03, vttiTask: Waiting for Request
2011-01-04T11:41:43.237514, host, Host::Host()
2011-01-04T11:41:43.239676, host, robot present 1
2011-01-04T11:41:43.404015, VSnmpMIB, MIB Data Listen
2011-01-04T11:41:43.408140, tti-dbg-04, vttiTask: Started for Drive 4
2011-01-04T11:41:43.408443, tti-dbg-04, vttiTask: Waiting for Request
2011-01-04T11:41:43.411031, tti-dbg-05, vttiTask: Started for Drive 5
2011-01-04T11:41:43.411337, tti-dbg-05, vttiTask: Waiting for Request
2011-01-04T11:41:43.425638, tti-dbg-06, vttiTask: Started for Drive 6
2011-01-04T11:41:43.426040, tti-dbg-06, vttiTask: Waiting for Request
2011-01-04T11:41:43.566222, tti-dbg-07, vttiTask: Started for Drive 7
2011-01-04T11:41:43.566525, tti-dbg-07, vttiTask: Waiting for Request
2011-01-04T11:41:43.569144, tti-dbg-08, vttiTask: Started for Drive 8
2011-01-04T11:41:43.569451, tti-dbg-08, vttiTask: Waiting for Request
2011-01-04T11:41:43.582409, robot, hbbSetup - Application Exiting.
2011-01-04T11:41:43.591293, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/srv_coordinator ()
2011-01-04T11:41:43.596172, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/srv_grip (/usr/local/bin/srv_mech)
2011-01-04T11:41:43.600901, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/srv_reach (/usr/local/bin/srv_mech)
2011-01-04T11:41:43.815627, tti-dbg-09, vttiTask: Started for Drive 9
2011-01-04T11:41:43.816029, tti-dbg-09, vttiTask: Waiting for Request
2011-01-04T11:41:43.990196, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/srv_track (/usr/local/bin/srv_mech)
2011-01-04T11:41:43.994553, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/srv_strack (/usr/local/bin/srv_mech)
2011-01-04T11:41:44.136290, tti-dbg-10, vttiTask: Started for Drive 10
2011-01-04T11:41:44.136592, tti-dbg-10, vttiTask: Waiting for Request
2011-01-04T11:41:44.139203, tti-dbg-11, vttiTask: Started for Drive 11
2011-01-04T11:41:44.139505, tti-dbg-11, vttiTask: Waiting for Request
2011-01-04T11:41:44.155636, tti-dbg-12, vttiTask: Started for Drive 12
2011-01-04T11:41:44.156034, tti-dbg-12, vttiTask: Waiting for Request
2011-01-04T11:41:44.163083, servo, srv_mech_get: mech is grip
2011-01-04T11:41:44.166875, servo, srv_mech_task: setting real time priority for
mech=grip
2011-01-04T11:41:44.167610, servo, sys_set_rt_priority(): rt_priority enum=3, sc
hp.sched_priority=112
2011-01-04T11:41:44.282787, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/srv_wrist (/usr/local/bin/srv_mech)
2011-01-04T11:41:44.286972, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/srv_z (/usr/local/bin/srv_mech)
2011-01-04T11:41:44.440680, servo, srv_mech_get: sys_task_get_id() mechTaskId=/u
sr/local/bin/srv_reach
2011-01-04T11:41:44.485711, servo, srv_mech_get: sys_task_get_id() mechTaskId=/u
sr/local/bin/srv_track
2011-01-04T11:41:44.526211, tti-dbg-13, vttiTask: Started for Drive 13
2011-01-04T11:41:44.526515, tti-dbg-13, vttiTask: Waiting for Request
2011-01-04T11:41:44.529144, tti-dbg-14, vttiTask: Started for Drive 14
2011-01-04T11:41:44.529446, tti-dbg-14, vttiTask: Waiting for Request
2011-01-04T11:41:44.542726, servo, srv_mech_get: mech is track
2011-01-04T11:41:44.544363, servo, srv_mech_task: setting real time priority for
mech=track
2011-01-04T11:41:44.545094, servo, sys_set_rt_priority(): rt_priority enum=2, sc
hp.sched_priority=117
2011-01-04T11:41:44.551137, servo, srv_mech_get: mech is reach
2011-01-04T11:41:44.552774, servo, srv_mech_task: setting real time priority for
mech=reach
2011-01-04T11:41:44.553506, servo, sys_set_rt_priority(): rt_priority enum=3, sc
hp.sched_priority=112
2011-01-04T11:41:44.562123, tti-dbg-15, vttiTask: Started for Drive 15
2011-01-04T11:41:44.562530, tti-dbg-15, vttiTask: Waiting for Request
2011-01-04T11:41:44.492279, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/srv_isr ()
2011-01-04T11:41:44.685841, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/Director ()
2011-01-04T11:41:44.858161, servo, srv_mech_get: sys_task_get_id() mechTaskId=/u
sr/local/bin/srv_wrist
2011-01-04T11:41:44.889782, servo, srv_mech_get: sys_task_get_id() mechTaskId=/u
sr/local/bin/srv_strack
2011-01-04T11:41:44.892906, servo, srv_mech_get: mech is strack
2011-01-04T11:41:44.895508, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/Ifm ()
2011-01-04T11:41:44.926255, tti-dbg-16, vttiTask: Started for Drive 16
2011-01-04T11:41:44.926562, tti-dbg-16, vttiTask: Waiting for Request
2011-01-04T11:41:44.929210, tti-dbg-17, vttiTask: Started for Drive 17
2011-01-04T11:41:44.929513, tti-dbg-17, vttiTask: Waiting for Request
2011-01-04T11:41:44.945711, servo, srv_mech_task: setting real time priority for
mech=s-track
2011-01-04T11:41:44.946396, servo, sys_set_rt_priority(): rt_priority enum=2, sc
hp.sched_priority=117
2011-01-04T11:41:44.951988, servo, srv_mech_get: mech is wrist
2011-01-04T11:41:44.953612, servo, srv_mech_task: setting real time priority for
mech=wrist
2011-01-04T11:41:44.972942, servo, sys_set_rt_priority(): rt_priority enum=3, sc
hp.sched_priority=112
2011-01-04T11:41:44.981592, tti-dbg-18, vttiTask: Started for Drive 18
2011-01-04T11:41:44.981998, tti-dbg-18, vttiTask: Waiting for Request
2011-01-04T11:41:45.052806, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/VMonitor ()
2011-01-04T11:41:45.054972, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/SensorMgr ()
2011-01-04T11:41:45.307278, servo, srv_mech_get: sys_task_get_id() mechTaskId=/u
sr/local/bin/srv_z
2011-01-04T11:41:45.345671, servo, SRV ISR - Start
2011-01-04T11:41:45.348373, servo, srv_mech_get: mech is z
2011-01-04T11:41:45.351727, servo, srv_mech_task: setting real time priority for
mech=z
2011-01-04T11:41:45.352451, servo, sys_set_rt_priority(): rt_priority enum=3, sc
hp.sched_priority=112
2011-01-04T11:41:45.363553, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/Diag ()
2011-01-04T11:41:45.393182, servo, sys_set_rt_priority(): rt_priority enum=1, sc
hp.sched_priority=122
2011-01-04T11:41:45.395225, sys, sys_cpuinfo_get_cpu_clock: sys_cpuinfo_clock_fr
eq=198000000Hz
2011-01-04T11:41:45.402685, servo, ServoMoveData - initBuffer()
2011-01-04T11:41:45.434418, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/Stats ()
2011-01-04T11:41:45.724388, processMgr, runCommand: systemCmd = touch processMgr
.ready
2011-01-04T11:41:46.059039, LibMD, Sensor Manager is in mainloop.
2011-01-04T11:41:46.105939, sensor-manager, SensorManager: init value for sensor
/dev/mainDoorUnlock
2011-01-04T11:41:46.203098, sensor-manager, SensorManager: init value for sensor
/dev/capUnlock
2011-01-04T11:41:46.302749, sensor-manager, SensorManager: init value for sensor
/dev/cap1
2011-01-04T11:41:46.402753, sensor-manager, SensorManager: init value for sensor
/dev/cap2
2011-01-04T11:41:46.472069, Statistics, Stats Starting
2011-01-04T11:41:46.482589, Statistics, MediaEventLogger::readFromStorageFile():
[/mnt/nvram/MediaDriveEvents.txt]
2011-01-04T11:41:46.502755, sensor-manager, SensorManager: init value for sensor
/dev/cap3
2011-01-04T11:41:46.523586, Statistics, MediaEventLogger::_getMediaEventFileLock
- obtaining lock
2011-01-04T11:41:46.524439, Statistics, MediaEventLogger::_getMediaEventFileLock
- got lock
2011-01-04T11:41:46.602762, sensor-manager, SensorManager: init value for sensor
/dev/cap4
2011-01-04T11:41:46.702745, sensor-manager, SensorManager: init value for sensor
/dev/cap5
2011-01-04T11:41:46.725117, Statistics, MediaEventLogger::dumpNamedFile(): [/usr
/local/share/MediaDriveEvents_uponBoot.txt]
2011-01-04T11:41:46.802770, sensor-manager, SensorManager: init value for sensor
/dev/cap6
2011-01-04T11:41:46.923651, sensor-manager, SensorManager: init value for sensor
/dev/mainDoor
2011-01-04T11:41:46.934064, access-manager, LIB_ACCESS_CLOSED, LED_OFF
2011-01-04T11:41:47.023468, access-manager, *** DOOR CLOSED
2011-01-04T11:41:47.031042, access-manager, AMDoorSensorEvent - Door closed even
t
2011-01-04T11:41:47.031318, access-manager, AM: Transition START->(AM_DOOR_CLOSE
D_TRANSITION)->AUDIT LIBRARY, cap button(disabled) door button(enabled)
2011-01-04T11:41:47.032137,
or = 1 cap = 0
2011-01-04T11:41:47.036065,
ND
2011-01-04T11:41:47.047745,
2011-01-04T11:41:47.049408,
2011-01-04T11:41:47.049684,
2011-01-04T11:41:47.050247,
2011-01-04T11:41:47.082970,
2011-01-04T11:41:47.102833,
2011-01-04T11:41:47.143384,
2011-01-04T11:41:47.353086,
2011-01-04T11:41:47.353632,
AILED = 6414
2011-01-04T11:41:47.353997,
2011-01-04T11:41:47.354341,
eq=198000000Hz
2011-01-04T11:41:50.866836, tti-dbg-02, FOUND DRIVE AT PORT #2
2011-01-04T11:41:50.867106, tti-dbg-02, TTI DRIVE INIT: DRIVE 2 ON BUS = 0
2011-01-04T11:41:50.867448, tti-dbg-02, HpLtoClass: SetDriveConfiguration
2011-01-04T11:41:50.867831, tti-dbg-02, HPPackets: SetFibreConfiguration
2011-01-04T11:41:50.953146, tti-dbg-02, HP_LTO_GOOD_STATUS
2011-01-04T11:41:50.953500, tti-dbg-02, HPPackets: SendAckNakResponse
2011-01-04T11:41:50.954404, tti-dbg-02, DRIVEINIT: SUCCESSFUL INIT OF DRIVE #2
2011-01-04T11:41:50.980464, tti-dbg-02, HpLtoClass: GetDriveInformation
2011-01-04T11:41:50.980855, tti-dbg-02, HPPackets: GetDriveInformation
2011-01-04T11:41:51.092788, tti-dbg-02, HP_LTO_GOOD_STATUS
2011-01-04T11:41:51.093170, tti-dbg-02, driveCodeLevel = L6HS
2011-01-04T11:41:51.093987, tti-dbg-02, HPPackets: SendAckNakResponse
2011-01-04T11:41:51.095041, tti-dbg-02, tti: this driveType = HpUltrium3 info =
HpUltrium3
2011-01-04T11:41:51.095724, tti-dbg-02, DRIVE INFO: DRIVE 2 RESULTCODE = 0
2011-01-04T11:41:51.148162, tti-dbg-02, HpLtoClass: SetDriveTOD
2011-01-04T11:41:51.148627, tti-dbg-02, HPPackets: SetDriveTOD
2011-01-04T11:41:51.148869, tti-dbg-02, HPPackets: SetDriveTOD: Hour = 11
2011-01-04T11:41:51.149112, tti-dbg-02, HPPackets: SetDriveTOD: Min = 41
2011-01-04T11:41:51.149358, tti-dbg-02, HPPackets: SetDriveTOD: Sec = 51
2011-01-04T11:41:51.202777, tti-dbg-02, HP_LTO_GOOD_STATUS
2011-01-04T11:41:51.203124, tti-dbg-02, HPPackets: SendAckNakResponse
2011-01-04T11:41:51.231902, tti-dbg-02, HpLtoClass: GetDriveConfiguration
2011-01-04T11:41:51.232301, tti-dbg-02, HPPackets: GetFibreConfiguration
2011-01-04T11:41:51.322794, tti-dbg-02, HP_LTO_GOOD_STATUS
2011-01-04T11:41:51.323159, tti-dbg-02, HPPackets: SendAckNakResponse
2011-01-04T11:41:51.324089, tti-dbg-02, HPPackets: GetLinkStatus
2011-01-04T11:41:51.382779, tti-dbg-02, HP_LTO_GOOD_STATUS
2011-01-04T11:41:51.383203, tti-dbg-02, HPPackets: SendAckNakResponse
2011-01-04T11:41:51.384336, tti-dbg-02, DRIVE GET CONFIG: DRIVE 2 RESULTCODE = 0
2011-01-04T11:41:52.670056, robot, scanGetVersion data addr=0x7fffeb70, Hdr addr
=0x7fffeb70
2011-01-04T11:41:52.670318, robot, scanGetVersion Keys: 0x53 30 c0
2011-01-04T11:41:52.670565, robot, scanGetVersion found valid version
2011-01-04T11:41:52.670806, robot, scanGetVersion data len=0x001f, numChars=31
2011-01-04T11:41:52.671138, robot, Scanner version=*E1022 RS TTL SXX_302I CPU 1.
1*
2011-01-04T11:41:52.758327, VSnmpTrap, VSnmpSocketEventFileDesc: = 8
2011-01-04T11:41:52.772963, VSnmpTrap, VSnmp Registered for Events
2011-01-04T11:41:52.773467, VSnmpTrap, VSnmpSocketHeartBeatFileDesc: = 9
2011-01-04T11:41:52.792889, VSnmpTrap, VSnmp Registered for Events
2011-01-04T11:41:58.889752, robot, scanGetVersion data addr=0x7fffeed0, Hdr addr
=0x7fffeed0
2011-01-04T11:41:58.890024, robot, scanGetVersion Keys: 0x53 30 c0
2011-01-04T11:41:58.890267, robot, scanGetVersion found valid version
2011-01-04T11:41:58.890503, robot, scanGetVersion data len=0x001f, numChars=31
2011-01-04T11:41:58.890750, robot, Scanner version=*E1022 RS TTL SXX_302I CPU 1.
1*
2011-01-04T11:41:59.902689, robot, scanInitialize, version=*E1022 RS TTL SXX_302
I CPU 1.1* firmware version=SXX_302I, status=0
2011-01-04T11:41:59.905418, robot, Director - Starting scan request for scanner
software version.
2011-01-04T11:41:59.951241, robot, scanGetVersion data addr=0x7fffed90, Hdr addr
=0x7fffed90
2011-01-04T11:41:59.951488, robot, scanGetVersion Keys: 0x53 30 c0
2011-01-04T11:41:59.951734, robot, scanGetVersion found valid version
2011-01-04T11:41:59.952589, robot, scanGetVersion data len=0x001f, numChars=31
2011-01-04T11:41:59.952899, robot, Scanner version=*E1022 RS TTL SXX_302I CPU 1.
1*
I is up to date.
2011-01-04T11:42:02.521307, robot, scanUserSetVolatileMode: Volatile Mode Comman
d Successful
2011-01-04T11:42:02.521591, robot-config, cfg_parse_get_dimension succesful: dim
_name = COLUMN_0_TO_3_WRIST, dim_value = 213 (mils)
2011-01-04T11:42:02.538020, robot, Director - initialize lib cal data: rev = 1,
wrist offset = 182 mils, wrist_lash = 29 mils
2011-01-04T11:42:02.538555, robot-cfg-calib, Cfg_calib_library_cal_class::set: l
ib_half=1, offsets (TZW)=0,0,-60 (mils)
2011-01-04T11:42:02.539054, robot, Director - initialize lib cal data: wrist off
set = -60 mils, wrist_lash = 29 mils
2011-01-04T11:42:02.539519, robot, Director - initialize handbot 0
2011-01-04T11:42:02.540274, servo, Init Move to Negative Endstop reach mech
2011-01-04T11:42:02.548101, servo, servo - operation 0x0011 on reach
2011-01-04T11:42:02.548436, robot, mech_move_stall: mech=3, options=1
2011-01-04T11:42:02.548998, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:42:02.549615, servo, srv_mech_build_prof_request(): profile type=0
, mech=3, start=0.000000, end=-1830.000000, direction=-1, end_seg=1, lead_on_dec
el=0
2011-01-04T11:42:02.550917, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:42:02.551484, servo, srv_utils_isr_get_response: calling sigwait,
mech=3
2011-01-04T11:42:02.556154, servo, *** changing direction, mech=3, dir_bit=1
2011-01-04T11:42:02.812999, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:42:02.813344, servo, srv get_profile_resp: reach final pos=0 tachs
(0 mils, 0.000000 rads), distance=23 mils, srv_status=0, result code=0
2011-01-04T11:42:02.820768, service-metrics, reach, Time 0.000453:0.000536:0.001
413(Min:Avg:Max secs), MSI's=0
2011-01-04T11:42:02.821286, servo, Move Stall OK: start_t = 0, current_position
= 0, delta = 0 (tachs)
2011-01-04T11:42:02.821554, servo, Move Stall ZERO TACH: Oper0 = 54, Oper1 = 54,
Range = 0 (tachs)
2011-01-04T11:42:02.823788, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:42:02.847178, robot, HW Rev in scanner is 003
2011-01-04T11:42:02.863998, servo, Resetting counts per mil from file info.
2011-01-04T11:42:04.723122, robot, No configuration label!
2011-01-04T11:42:04.724207, robot, Director - not at home- calling general init
routine
2011-01-04T11:42:04.724760, robot-config, cfg_parse_get_dimension succesful: dim
_name = COLUMN_0_TO_3_WRIST, dim_value = 213 (mils)
2011-01-04T11:42:04.725281, robot-config, cfg_parse_get_dimension succesful: dim
_name = PARK_ZONE_TRACK, dim_value = 1400 (mils)
2011-01-04T11:42:04.725982, robot-config, cfg_parse_get_dimension succesful: dim
_name = SAFE_ZONE_TRACK, dim_value = 6500 (mils)
2011-01-04T11:42:04.726495, robot-config, cfg_parse_get_dimension succesful: dim
_name = SAFE_ZONE_Z, dim_value = 6000 (mils)
2011-01-04T11:42:04.733345, servo, servo - operation 0x0011 on track
2011-01-04T11:42:04.733675, robot, mech_move_stall: mech=0, options=0
2011-01-04T11:42:04.734065, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:42:04.735203, servo, srv_mech_build_prof_request(): profile type=0
, mech=0, start=0.000000, end=26.425200, direction=1, end_seg=1, lead_on_decel=0
2011-01-04T11:42:04.736479, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:42:04.737043, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:42:04.739991, servo, *** changing direction, mech=0, dir_bit=0
2011-01-04T11:42:06.789364, robot, srv_utils_isr_get_response: Recieved Response
achs (14283 mils, 127.429001 rads), distance=39 mils, srv_status=0, result code=
0
2011-01-04T11:43:12.276463, service-metrics, wrist, Time 0.000233:0.000317:0.000
492(Min:Avg:Max secs), MSI's=0
2011-01-04T11:43:12.280368, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:12.618951, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:12.619298, servo, srv get_profile_resp: z final pos=8985 tachs
(2080 mils, 28.227276 rads), distance=596 mils, srv_status=0, result code=0
2011-01-04T11:43:12.627903, service-metrics, z, Time 0.000243:0.000393:0.000512(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:43:12.630338, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:12.635059, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 57,2079,14283 (mils)
2011-01-04T11:43:12.696326, robot-cmo, cmo_move_arm_z_scan_req: commanding arm t
o (Z) 3287 (mils)
2011-01-04T11:43:12.696612, servo, srv_user_move_mech_z_scan_req: scanType=3, to
3287 (mils)
2011-01-04T11:43:12.696904, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:12.709248, servo, servo - operation 0x0012 on z
2011-01-04T11:43:12.710910, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:12.711380, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=28.227276, end=44.613861, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:43:12.713018, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:12.715094, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:43:13.581960, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:13.582309, servo, srv get_profile_resp: z final pos=14152 tachs
(3275 mils, 44.459923 rads), distance=1196 mils, srv_status=0, result code=0
2011-01-04T11:43:13.590878, service-metrics, z, Time 0.000242:0.000403:0.000528(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:43:13.593361, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:14.150567, robot-cmo, auditUserMultiScan returned 0 labels
2011-01-04T11:43:14.151957, robot-cmo, cmo_move_arm: commanding arm to (TZW) 58,
2687,14284 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:43:14.152283, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:14.167919, servo, servo - operation 0x0012 on track
2011-01-04T11:43:14.169871, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:14.170385, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=0.378200, end=0.378200, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:43:14.172019, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:14.175513, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:43:14.177218, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:14.178786, servo, srv get_profile_resp: track final pos=62 tach
s (57 mils, 0.378200 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:43:14.189930, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:43:14.200967, servo, servo - operation 0x0012 on z
2011-01-04T11:43:14.202880, robot, Srv_mech_parm_class::state - parmsOn = 0
et Pending, pending=1
2011-01-04T11:43:16.746822, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:43:16.750765, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:43:16.763654, servo, servo - operation 0x0012 on wrist
2011-01-04T11:43:16.767129, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:16.769042, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=127.435097, end=127.794998, direction=1, end_seg=2, lead_on_dece
l=0
2011-01-04T11:43:16.772192, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:16.775859, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:43:16.785091, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:17.046387, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:17.046739, servo, srv get_profile_resp: wrist final pos=20951 t
achs (14324 mils, 127.801094 rads), distance=41 mils, srv_status=0, result code=
0
2011-01-04T11:43:17.058996, service-metrics, wrist, Time 0.000239:0.000319:0.000
486(Min:Avg:Max secs), MSI's=0
2011-01-04T11:43:17.062976, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:17.405160, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:17.405508, servo, srv get_profile_resp: z final pos=8985 tachs
(2080 mils, 28.227276 rads), distance=596 mils, srv_status=0, result code=0
2011-01-04T11:43:17.414079, service-metrics, z, Time 0.000243:0.000393:0.000522(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:43:17.423197, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:17.429055, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 57,2079,14324 (mils)
2011-01-04T11:43:17.490482, robot-cmo, cmo_move_arm_z_scan_req: commanding arm t
o (Z) 3287 (mils)
2011-01-04T11:43:17.491865, servo, srv_user_move_mech_z_scan_req: scanType=3, to
3287 (mils)
2011-01-04T11:43:17.492160, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:17.504462, servo, servo - operation 0x0012 on z
2011-01-04T11:43:17.506172, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:17.506644, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=28.227276, end=44.613861, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:43:17.508193, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:17.510086, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:43:18.377131, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:18.377481, servo, srv get_profile_resp: z final pos=14152 tachs
(3275 mils, 44.459923 rads), distance=1196 mils, srv_status=0, result code=0
2011-01-04T11:43:18.386103, service-metrics, z, Time 0.000241:0.000403:0.000530(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:43:18.388495, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:18.941999, robot-cmo, auditUserMultiScan returned 0 labels
2011-01-04T11:43:18.943387, robot-cmo, cmo_move_arm: commanding arm to (TZW) 58,
et Pending, pending=1
2011-01-04T11:43:33.001325, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:43:33.023061, servo, servo - operation 0x0012 on wrist
2011-01-04T11:43:33.026257, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:33.026636, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=126.721397, end=126.721397, direction=-1, end_seg=2, lead_on_dec
el=0
2011-01-04T11:43:33.028371, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:33.030246, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:43:33.031988, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:33.033711, servo, srv get_profile_resp: wrist final pos=20774 t
achs (14203 mils, 126.721397 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:43:33.047988, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:43:33.055579, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:33.060680, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:33.502277, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:33.502665, servo, srv get_profile_resp: z final pos=10952 tachs
(2535 mils, 34.406803 rads), distance=282 mils, srv_status=0, result code=0
2011-01-04T11:43:33.511288, service-metrics, z, Time 0.000241:0.000378:0.000521(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:43:33.514894, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:33.518314, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 57,2534,14203 (mils)
2011-01-04T11:43:35.323971, robot-cmo, cmo_move_arm: commanding arm to (TZW) 58,
2879,14204 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:43:35.325357, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:35.340011, servo, servo - operation 0x0012 on track
2011-01-04T11:43:35.341722, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:35.342096, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=0.378200, end=0.378200, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:43:35.343667, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:35.345793, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:43:35.347595, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:35.349298, servo, srv get_profile_resp: track final pos=62 tach
s (57 mils, 0.378200 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:43:35.360174, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:43:35.372733, servo, servo - operation 0x0012 on z
2011-01-04T11:43:35.375993, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:35.377812, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=34.406803, end=39.078362, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:43:35.379471, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:35.381536, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:43:35.403425, servo, servo - operation 0x0012 on wrist
2011-01-04T11:43:56.408929,
t:
2011-01-04T11:43:56.436033,
t:
2011-01-04T11:43:56.463649,
t:
2011-01-04T11:43:56.492480,
t:
2011-01-04T11:43:56.522575,
t:
2011-01-04T11:43:56.551718,
t:
2011-01-04T11:43:56.580800,
t:
2011-01-04T11:43:56.610993,
t:
2011-01-04T11:43:56.640047,
t:
2011-01-04T11:43:56.669138,
t:
2011-01-04T11:43:56.699326,
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-config, Element map description:
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:43:59.251185, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:43:59.253148, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:43:59.255108, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:43:59.260237, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:43:59.262184, robot, srv_user_hand_cart_state: cart present sensor
=0
2011-01-04T11:43:59.264135, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:59.265651, robot, cmo_eval_op_state_precheck: cmo_status=0, ope
ration=2, code=0, operationalState=0
2011-01-04T11:43:59.267201, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:43:59.267658, robot, srv_user_hand_cart_state: cart present sensor
=0
2011-01-04T11:43:59.269215, robot-config, cfg_user_get_target_cartesian: Nominal
Target Cartesian Requested for address: (LMRC) 0,1,1,1
2011-01-04T11:43:59.269505, robot-config, Cfg_map_config_class::get_column (priv
ate): NON
adjusted track_mil_offset = 198
2011-01-04T11:43:59.270981, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:43:59.271442, robot-config, cfg_user_get_target_cartesian: Calibra
ted Target Cartesian Requested for address: (LMRC) 0,1,1,1
2011-01-04T11:43:59.276656, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: START, addr= (LMRC) 0,1,1,1
2011-01-04T11:43:59.278018, robot-config, Cfg_map_config_class::get_column (priv
ate): NON
adjusted track_mil_offset = 198
2011-01-04T11:43:59.278328, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position nom positions top:bot(TZW)=198,3325,213:0,0,0
2011-01-04T11:43:59.279916, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:43:59.280236, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: Targets Not Calibrated
2011-01-04T11:43:59.280480, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: END, final positions top:bot(TZW)=198,3325,213:0,0,0 (mils
)
2011-01-04T11:43:59.281870, robot-cfg-calib, cfg_calib_user_get_target_cal_posit
ion(): location Not Calibrated for handEmpty, using handFull if available
2011-01-04T11:43:59.282201, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: START, addr= (LMRC) 0,1,1,1
2011-01-04T11:43:59.283707, robot-config, Cfg_map_config_class::get_column (priv
ate): NON
adjusted track_mil_offset = 198
2011-01-04T11:43:59.283993, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position nom positions top:bot(TZW)=198,3325,213:0,0,0
2011-01-04T11:43:59.285537, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:43:59.290903, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: Targets Not Calibrated
2011-01-04T11:43:59.291171, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: END, final positions top:bot(TZW)=198,3325,213:0,0,0 (mils
)
2011-01-04T11:43:59.292524, robot-config, cfg_user_get_target_cartesian: Target
is NOT Calibrated, using Library Cal (Endstop's Target Offsets, if set)
2011-01-04T11:43:59.292851, robot-cfg-calib, Cfg_calib_library_cal_class::get: R
ight Half, Cal'd=1, offsets (TZW)=0,0,-60 (mils)
2011-01-04T11:43:59.296148, robot-config, cfg_parse_get_dimension succesful: dim
es:
firstMTAddr[0] = 0
firstMTAddr[1] = 0
numMTElements = 0x1
firs
tSTAddr[0] = 0x3
firstSTAddr[1] = 0xe8
numSTElements = 0x1e
firstIE
Addr[0] = 0
firstIEAddr[1] = 0xa
numIEElements = 0x5
firstDTAddr[0]
= 0x1
firstDTAddr[1] = 0xf4
numDTElements = 0x2
2011-01-04T11:43:59.945489, scsi-server, SmcUser::SmcUser(lunP) - Done
2011-01-04T11:43:59.956272, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:59.956621, servo, srv get_profile_resp: track final pos=2155 ta
chs (1990 mils, 13.145500 rads), distance=1933 mils, srv_status=0, result code=0
2011-01-04T11:43:59.965498, service-metrics, track, Time 0.000282:0.000441:0.000
558(Min:Avg:Max secs), MSI's=0
2011-01-04T11:43:59.969043, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:59.981631, servo, servo - operation 0x0012 on z
2011-01-04T11:43:59.983470, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:59.985030, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=32.437019, end=45.185631, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:43:59.985514, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:59.987207, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:44:00.012708, servo, servo - operation 0x0012 on wrist
2011-01-04T11:44:00.015897, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:00.017639, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=126.715294, end=1.360300, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:44:00.018109, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:00.021357, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:44:00.194592, scsi-engine, ScsiLun::ScsiLun(2) - 0x101e3d30
2011-01-04T11:44:00.217867, scsi-server, LibifSL500DeviceServer::LibifSL500Devic
eServer(deviceServerP)
2011-01-04T11:44:00.232497, scsi-server, SmcUser::SmcUser(lunP)
2011-01-04T11:44:00.236238, scsi-server, SmcUser::initModePages()
2011-01-04T11:44:00.355325, scsi-server, SmcUser::initModePages() - current valu
es:
firstMTAddr[0] = 0
firstMTAddr[1] = 0
numMTElements = 0x1
firs
tSTAddr[0] = 0x3
firstSTAddr[1] = 0xe8
numSTElements = 0
firstIEAdd
r[0] = 0
firstIEAddr[1] = 0xa
numIEElements = 0
firstDTAddr[0] = 0x
1
firstDTAddr[1] = 0xf4
numDTElements = 0
2011-01-04T11:44:00.358647, scsi-server, SmcUser::SmcUser(lunP) - Done
2011-01-04T11:44:00.364278, scsi-engine, ScsiLun::ScsiLun(3) - 0x101e3da0
2011-01-04T11:44:00.387798, scsi-server, LibifSL500DeviceServer::LibifSL500Devic
eServer(deviceServerP)
2011-01-04T11:44:00.403822, scsi-server, SmcUser::SmcUser(lunP)
2011-01-04T11:44:00.407640, scsi-server, SmcUser::initModePages()
2011-01-04T11:44:00.697614, scsi-server, SmcUser::initModePages() - current valu
es:
firstMTAddr[0] = 0
firstMTAddr[1] = 0
numMTElements = 0x1
firs
tSTAddr[0] = 0x3
firstSTAddr[1] = 0xe8
numSTElements = 0
firstIEAdd
r[0] = 0
firstIEAddr[1] = 0xa
numIEElements = 0
firstDTAddr[0] = 0x
1
firstDTAddr[1] = 0xf4
numDTElements = 0
2011-01-04T11:44:00.699467, scsi-server, SmcUser::SmcUser(lunP) - Done
2011-01-04T11:44:00.703412, scsi-engine, ScsiLun::ScsiLun(4) - 0x101e3e10
2011-01-04T11:44:00.719372, scsi-server, LibifSL500DeviceServer::LibifSL500Devic
eServer(deviceServerP)
2011-01-04T11:44:00.771560, robot, srv_utils_isr_get_response: Recieved Response
tSTAddr[0] = 0x3
firstSTAddr[1] = 0xe8
numSTElements = 0
firstIEAdd
r[0] = 0
firstIEAddr[1] = 0xa
numIEElements = 0
firstDTAddr[0] = 0x
1
firstDTAddr[1] = 0xf4
numDTElements = 0
2011-01-04T11:44:01.366681, scsi-server, SmcUser::SmcUser(lunP) - Done
2011-01-04T11:44:01.370537, scsi-engine, ScsiDevice::modifyLuns(numValidLuns = 1
, validLuns = 0x7ffff6f8) 0x101e4a08 - validLuns[0] = 0
2011-01-04T11:44:01.372241, scsi-engine, ScsiDevice::modifyLuns() - _luns[0] = 0
x101e3cc0
2011-01-04T11:44:01.384738, scsi-server, LibifSL500DeviceServer::LibifSL500Devic
eServer(deviceServerP)
2011-01-04T11:44:01.394037, scsi-server, SmcUser::SmcUser(lunP)
2011-01-04T11:44:01.397401, scsi-server, SmcUser::initModePages()
2011-01-04T11:44:01.478614, scsi-server, SmcUser::initModePages() - current valu
es:
firstMTAddr[0] = 0
firstMTAddr[1] = 0
numMTElements = 0x1
firs
tSTAddr[0] = 0x3
firstSTAddr[1] = 0xe8
numSTElements = 0x1e
firstIE
Addr[0] = 0
firstIEAddr[1] = 0xa
numIEElements = 0x5
firstDTAddr[0]
= 0x1
firstDTAddr[1] = 0xf4
numDTElements = 0x2
2011-01-04T11:44:01.480298, scsi-server, SmcUser::SmcUser(lunP) - Done
2011-01-04T11:44:01.514488, scsi-engine, ScsiDevice::startPorts() 0x101e4a08
2011-01-04T11:44:01.795610, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:01.795962, servo, srv get_profile_resp: wrist final pos=258 tac
hs (176 mils, 1.573800 rads), distance=14026 mils, srv_status=0, result code=0
2011-01-04T11:44:01.804682, service-metrics, wrist, Time 0.000241:0.000418:0.000
717(Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:01.807102, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:01.819265, servo, servo - operation 0x0012 on track
2011-01-04T11:44:01.820925, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:01.821393, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=13.279699, end=1.305400, direction=-1, end_seg=2, lead_on_decel=
0
2011-01-04T11:44:01.823030, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:01.824937, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:44:02.394419, scsi-engine, ScsiPort::activate() - ok through confi
gure
2011-01-04T11:44:02.399954, scsi-engine, ScsiDevice::startPorts() 0x101e4a08 - /
dev/scsi_tgt0 activate status = 6
2011-01-04T11:44:02.401486, scsi-engine, ScsiDevice::startPorts() 0x101e4a08 - /
dev/scsi_tgt0 PRESENT
2011-01-04T11:44:02.401980, scsi-engine, ScsiDevice::startPorts() 0x101e4a08 - D
one, numPorts = 1
2011-01-04T11:44:02.426959, host, HostInit::executeCommand(): Exiting command
2011-01-04T11:44:02.437718, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:02.438067, servo, srv get_profile_resp: track final pos=226 tac
hs (209 mils, 1.378600 rads), distance=1802 mils, srv_status=0, result code=0
2011-01-04T11:44:02.446894, service-metrics, track, Time 0.000301:0.000440:0.000
558(Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:02.450382, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:02.455576, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 209,3316,158 (mils)
2011-01-04T11:44:02.457822, sys, sys_cpuinfo_get_cpu_clock: sys_cpuinfo_clock_fr
eq=198000000Hz
2011-01-04T11:44:02.658037, robot, scanUserTarget: Returning target bars=11, ret
urnVal=0, code=0, targetReadTime=0.198384
ask = 0x10205500
2011-01-04T11:44:04.405586, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:04.416546, scsi-engine, ScsiValidTask::startCommandComplete() 0
x101eb7a8 - status = 0
2011-01-04T11:44:04.441344, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:04.454330, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:04.459574, scsi-engine, Task received 0x101e2c80: cdb = 0x12
0 0 0 0x24 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0x2 0x150100 0-0 0/100000
00c953a7ef p=0
2011-01-04T11:44:04.463155, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x101e2c80
2011-01-04T11:44:04.465145, scsi-server, SmcInquiry::initializeData()
2011-01-04T11:44:04.484746, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:04.493987, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:04.522487, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:04.529466, scsi-engine, Task received 0x10205950: cdb = 0xa0
0 0 0 0 0 0 0 0 0x10 0 0 0 0 0 0/ nexus = 0x5 0x150100 0-0 0/500110
a00018c1fa p=0
2011-01-04T11:44:04.538856, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10205950
2011-01-04T11:44:04.551867, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:04.562269, robot, scanUserTarget: Returning target bars=11, ret
urnVal=0, code=0, targetReadTime=0.187411
2011-01-04T11:44:04.591084, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:04.616286, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:04.621611, scsi-engine, Task received 0x10205b00: cdb = 0xa0
0 0 0 0 0 0 0 0 0x10 0 0 0 0 0 0/ nexus = 0x6 0x150100 0-0 0/500143
8001339df2 p=0
2011-01-04T11:44:04.630762, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10205b00
2011-01-04T11:44:04.648739, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:04.658071, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:04.672126, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:04.677457, scsi-engine, Task received 0x10205d18: cdb = 0xa0
0 0 0 0 0 0 0 0 0x10 0 0 0 0 0 0/ nexus = 0x7 0x150100 0-0 0/500143
8001339e1a p=0
2011-01-04T11:44:04.686732, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10205d18
2011-01-04T11:44:04.697432, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:04.721240, scsi-engine, ScsiValidTask::startCommandComplete() 0
x10205500 - status = 0
2011-01-04T11:44:04.728378, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:04.745951, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:04.750157, scsi-engine, Task received 0x10205f30: cdb = 0xa0
0 0 0 0 0 0 0 0 0x10 0 0 0 0 0 0/ nexus = 0x8 0x150100 0-0 0/210000
e08b9cddb9 p=0
2011-01-04T11:44:04.764299, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10205f30
2011-01-04T11:44:04.774858, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
ED
2011-01-04T11:44:07.828182, scsi-engine, Task received 0x101e2c80: cdb = 0x12 0
x1 0 0 0xff 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0x7 0x150100 0-0 0/50014
38001339e1a p=0
2011-01-04T11:44:07.832044, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x101e2c80
2011-01-04T11:44:07.835208, scsi-server, SmcInquiry::initializeData()
2011-01-04T11:44:07.864177, robot, scanGetTarget, scan_target() BAD Packet Lengt
h: targetReturn=13 length=28534
2011-01-04T11:44:07.864498, robot, scanUserTarget: Returning target bars=0, retu
rnVal=2, code=5412, targetReadTime=0.098973
2011-01-04T11:44:07.868075, robot-cmo, cmo_move_arm: commanding arm to (TZW) 198
,3229,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:44:07.869439, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:07.886201, servo, servo - operation 0x0012 on track
2011-01-04T11:44:07.887860, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:07.889339, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=1.305400, end=1.305400, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:07.889776, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:07.891387, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:44:07.893152, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:07.894739, servo, srv get_profile_resp: track final pos=214 tac
hs (198 mils, 1.305400 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:07.913119, servo, servo - operation 0x0012 on z
2011-01-04T11:44:07.914854, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:07.918724, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:07.922384, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=46.376297, end=43.828461, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:44:07.924117, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:07.927258, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:44:07.941888, servo, servo - operation 0x0012 on wrist
2011-01-04T11:44:07.943921, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:07.945532, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:07.947242, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:07.949192, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:44:07.950854, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:07.951191, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:07.965511, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:07.974504, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:07.977984, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:07.985280, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:08.003503, scsi-engine, ScsiValidTask::startCommandComplete() 0
x10205500 - status = 0
2011-01-04T11:44:09.615652,
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:09.624603,
, reach safe sensor=1
2011-01-04T11:44:09.628232,
, reach safe sensor=1
2011-01-04T11:44:09.657064,
2011-01-04T11:44:09.675288,
ED
2011-01-04T11:44:09.682360,
x1 0x80 0 0xff 0 0 0 0
110a00018c1fa p=0
2011-01-04T11:44:09.687886,
ask = 0x10205f30
2011-01-04T11:44:09.691373,
2011-01-04T11:44:09.718585,
4?
scsi-engine, ScsiTask::setStatusAndSense()errCode =
scsi-engine, ScsiTask::create():lun = 0
scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
scsi-engine, Task received 0x10205d18: cdb = 0x12 0
0 0 0 0 0 0 0/ nexus = 0x8 0x150100 0-0 0/210
scsi-server, SmcUser::executeCommand() - executing t
scsi-server, SmcInquiry::initializeData()
scsi-engine, Copied root serial number = 55900010120
scsi-engine, stringStreamSize = 1
scsi-engine, Modified serial number = 559000101204
scsi-engine, ScsiTask::setStatusAndSense()errCode =
scsi-engine, ScsiTask::create():lun = 0
scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
scsi-engine, Task received 0x10206398: cdb = 0x12 0
0 0 0 0 0 0 0/ nexus = 0x6 0x150100 0-0 0/500
scsi-server, SmcUser::executeCommand() - executing t
scsi-server, SmcInquiry::initializeData()
scsi-engine, Copied root serial number = 55900010120
scsi-engine, stringStreamSize = 1
scsi-engine, Modified serial number = 559000101204
scsi-engine, ScsiTask::setStatusAndSense()errCode =
scsi-engine, ScsiValidTask::startCommandComplete() 0
scsi-engine, ScsiValidTask::startCommandComplete() 0
scsi-engine, ScsiValidTask::startCommandComplete() 0
scsi-engine, ScsiTask::create():lun = 0
h: targetReturn=0 length=28534
2011-01-04T11:44:10.387289, robot, scanUserTarget: Returning target bars=0, retu
rnVal=2, code=5412, targetReadTime=0.297809
2011-01-04T11:44:10.397959, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:10.403362, scsi-engine, Task received 0x102055f8: cdb = 0xa0
0 0 0 0 0 0 0 0 0x10 0 0 0 0 0 0/ nexus = 0x4 0x150100 0-0 0/100000
00c935cdb3 p=0
2011-01-04T11:44:10.412702, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x102055f8
2011-01-04T11:44:10.437821, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:10.450731, scsi-engine, ScsiValidTask::startCommandComplete() 0
x10205d18 - status = 0
2011-01-04T11:44:10.459698, scsi-engine, ScsiValidTask::startCommandComplete() 0
x10208190 - status = 0
2011-01-04T11:44:10.482881, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:10.493924, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:10.498955, scsi-engine, Task received 0x10205f30: cdb = 0x12
0 0 0 0x24 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0x5 0x150100 0-0 0/500110
a00018c1fa p=0
2011-01-04T11:44:10.502430, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10205f30
2011-01-04T11:44:10.506173, scsi-server, SmcInquiry::initializeData()
2011-01-04T11:44:10.528113, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:10.538999, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:10.553283, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:10.558573, scsi-engine, Task received 0x101eb8a0: cdb = 0xa0
0 0 0 0 0 0 0 0 0x10 0 0 0 0 0 0/ nexus = 0x7 0x150100 0-0 0/500143
8001339e1a p=0
2011-01-04T11:44:10.569351, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x101eb8a0
2011-01-04T11:44:10.581895, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:10.595028, scsi-engine, ScsiValidTask::startCommandComplete() 0
x102055f8 - status = 0
2011-01-04T11:44:10.611133, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:10.636468, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:10.641740, scsi-engine, Task received 0x10205d18: cdb = 0x12
0 0 0 0x24 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0x8 0x150100 0-0 0/210000
e08b9cddb9 p=0
2011-01-04T11:44:10.646939, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10205d18
2011-01-04T11:44:10.648976, scsi-server, SmcInquiry::initializeData()
2011-01-04T11:44:10.674315, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:10.686990, robot, scanGetTarget, scan_target() BAD Packet Lengt
h: targetReturn=0 length=28534
2011-01-04T11:44:10.688438, robot, scanUserTarget: Returning target bars=0, retu
rnVal=2, code=5412, targetReadTime=0.297623
2011-01-04T11:44:10.708389, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:10.722434, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:10.738851, scsi-engine, Task received 0x10207e98: cdb = 0x12
0 0 0 0x24 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0x6 0x150100 0-0 0/500143
8001339df2 p=0
D= 6
2011-01-04T11:44:13.918236, scsi-engine, Task received 0x102055f8: cdb = 0x12 0
xc0 0 0 0x24 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0x9 0x150100 6-6 0/1000
0000c935ce63 p=0
2011-01-04T11:44:13.921980, scsi-engine, ScsiBadLunTask::execute()
2011-01-04T11:44:13.923786, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x102055f8
2011-01-04T11:44:13.925756, scsi-server, SmcInquiry::initializeData()
2011-01-04T11:44:13.974338, scsi-engine, ScsiBadLunTask::startCommandComplete()
0x102055f8 - status = 0
2011-01-04T11:44:13.988827, scsi-engine, ScsiTask::create():lun = 7
2011-01-04T11:44:13.995924, scsi-engine, ScsiDevice::getLun() - using bad lun
2011-01-04T11:44:14.001414, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:14.003050, scsi-engine, ScsiTask::create():virtual lun NOT VALI
D= 7
2011-01-04T11:44:14.008156, scsi-engine, Task received 0x101eb8a0: cdb = 0x12 0
xe0 0 0 0x24 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0x9 0x150100 7-7 0/1000
0000c935ce63 p=0
2011-01-04T11:44:14.011895, scsi-engine, ScsiBadLunTask::execute()
2011-01-04T11:44:14.012386, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x101eb8a0
2011-01-04T11:44:14.015574, scsi-server, SmcInquiry::initializeData()
2011-01-04T11:44:14.049777, scsi-engine, ScsiBadLunTask::startCommandComplete()
0x101eb8a0 - status = 0
2011-01-04T11:44:14.161645, robot, scanGetTarget, scan_target() BAD Packet Lengt
h: targetReturn=0 length=28534
2011-01-04T11:44:14.161966, robot, scanUserTarget: Returning target bars=0, retu
rnVal=2, code=5412, targetReadTime=0.297722
2011-01-04T11:44:14.340501, robot, scanGetTarget, scan_target() BAD Packet Lengt
h: targetReturn=13 length=28534
2011-01-04T11:44:14.342057, robot, scanUserTarget: Returning target bars=0, retu
rnVal=2, code=5412, targetReadTime=0.176316
2011-01-04T11:44:14.448408, robot, scanGetTarget, scan_target() BAD Packet Lengt
h: targetReturn=13 length=28534
2011-01-04T11:44:14.448730, robot, scanUserTarget: Returning target bars=0, retu
rnVal=2, code=5412, targetReadTime=0.103069
2011-01-04T11:44:14.558744, robot, scanGetTarget, scan_target() BAD Packet Lengt
h: targetReturn=13 length=28534
2011-01-04T11:44:14.560304, robot, scanUserTarget: Returning target bars=0, retu
rnVal=2, code=5412, targetReadTime=0.107945
2011-01-04T11:44:14.670554, robot, scanGetTarget, scan_target() BAD Packet Lengt
h: targetReturn=13 length=28534
2011-01-04T11:44:14.672116, robot, scanUserTarget: Returning target bars=0, retu
rnVal=2, code=5412, targetReadTime=0.108181
2011-01-04T11:44:14.677646, robot-cmo, cmo_move_arm: commanding arm to (TZW) 198
,3129,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:44:14.679234, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:14.695310, servo, servo - operation 0x0012 on track
2011-01-04T11:44:14.695914, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:14.697334, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=1.305400, end=1.305400, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:14.697758, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:14.699442, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:44:14.700961, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:14.702522, servo, srv get_profile_resp: track final pos=214 tac
)
2011-01-04T11:44:18.160209, robot-config, cfg_user_get_target_cartesian: Target
is NOT Calibrated, using Library Cal (Endstop's Target Offsets, if set)
2011-01-04T11:44:18.163414, robot-cfg-calib, Cfg_calib_library_cal_class::get: R
ight Half, Cal'd=1, offsets (TZW)=0,0,-60 (mils)
2011-01-04T11:44:18.163816, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:44:18.167139, robot-cmo, cmo_move_arm: commanding arm to (TZW) 198
,8884,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:44:18.167476, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:18.184950, servo, servo - operation 0x0012 on track
2011-01-04T11:44:18.186664, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:18.187140, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=1.927600, end=1.305400, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:18.188626, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:18.190419, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:44:18.210636, servo, servo - operation 0x0012 on z
2011-01-04T11:44:18.212387, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:18.214114, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=42.248238, end=120.587173, direction=1, end_seg=2, lead_on_decel
=0
2011-01-04T11:44:18.215708, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:18.217596, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:44:18.246598, servo, servo - operation 0x0012 on wrist
2011-01-04T11:44:18.248551, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:18.250372, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:18.252138, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:18.255671, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:44:18.257458, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:18.259106, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:18.277314, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:18.300865, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:18.473678, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:18.474027, servo, srv get_profile_resp: track final pos=220 tac
hs (203 mils, 1.342000 rads), distance=89 mils, srv_status=0, result code=0
2011-01-04T11:44:18.484863, service-metrics, track, Time 0.000285:0.000377:0.000
555(Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:18.490200, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:19.907207, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:19.907557, servo, srv get_profile_resp: z final pos=38329 tachs
(8871 mils, 120.414383 rads), distance=5759 mils, srv_status=0, result code=0
2011-01-04T11:44:19.916175, service-metrics, z, Time 0.000240:0.000419:0.000683(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:19.919689, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.167832, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.169515, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,4,1 -> top TZW=115,-229,-60, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.171309, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.173006, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,4,1 -> top TZW=115,-229,-60, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.174869, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.176521, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,4,1 -> top TZW=115,-229,-60, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.183724, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.184326, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,4,1 -> top TZW=10,14,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.187291, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.187891, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,4,1 -> top TZW=101,-243,-61, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.189731, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.191499, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,4,1 -> top TZW=110,-243,-61, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.193241, robot, cmo_eval_op_state START: cmo_status=0, operat
ion=3, code=0, operationalState=0
2011-01-04T11:44:31.194836, robot, cmo_eval_op_state checking to see if cart pre
sent will be over-ridden by grip position
2011-01-04T11:44:31.196467, robot, cmo_eval_op_state sensor read - Reach Safe:1,
Cartridge Present:0
2011-01-04T11:44:31.198069, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:31.198642, robot, cmo_eval_op_state END: cmo_status=0, operatio
n=3, code=0, operationalState=0
2011-01-04T11:44:31.200436, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,5,1 -> calibrated=1, retarget=0, top TZW=115,-229,-60, bottom TZW=0,0,0
(mils)
2011-01-04T11:44:31.202202, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,6,1 -> calibrated=1, retarget=0, top TZW=115,-229,-60, bottom TZW=0,0,0
(mils)
2011-01-04T11:44:31.204126, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,7,1 -> calibrated=1, retarget=0, top TZW=115,-229,-60, bottom TZW=0,0,0
(mils)
2011-01-04T11:44:31.205808, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:44:31.207699, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,1 -> calibrated=1, retarget=0, top TZW=36,-278,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:44:31.209394, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,1,1, targ offsets (sign co
rrected) top:bot(TZW)=36,-278,-60:0,0,0 (mils)
2011-01-04T11:44:31.211064, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:44:31.212622, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=198,3170,213 cal positions(TZW)=234,2
892,153 (mils)
2011-01-04T11:44:31.221783, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:44:31.387902, robot-config, cfg_parse_get_dimension succesful: dim
mils)
2011-01-04T11:44:33.286530, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,1,1, targ offsets (sign co
rrected) top:bot(TZW)=36,-278,-60:0,0,0 (mils)
2011-01-04T11:44:33.287059, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:44:33.288694, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=198,3170,213 cal positions(TZW)=234,2
892,153 (mils)
2011-01-04T11:44:33.290330, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:44:33.291971, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_END_OFFSET_Z, dim_value = 0 (mils)
2011-01-04T11:44:33.292480, robot-cmo, cmo_move_arm_z_scan_req: commanding arm t
o (Z) 2896 (mils)
2011-01-04T11:44:33.294306, servo, srv_user_move_mech_z_scan_req: scanType=3, to
2896 (mils)
2011-01-04T11:44:33.295962, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:33.308521, servo, servo - operation 0x0012 on z
2011-01-04T11:44:33.310272, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:33.311799, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=28.623117, end=39.307697, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:44:33.312281, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:33.314094, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:44:34.047620, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:34.047969, servo, srv get_profile_resp: z final pos=12463 tachs
(2885 mils, 39.153759 rads), distance=776 mils, srv_status=0, result code=0
2011-01-04T11:44:34.056766, service-metrics, z, Time 0.000242:0.000396:0.000519(
Min:Avg:Max secs), MSI's=1
2011-01-04T11:44:34.060296, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:34.643139, robot, label=DG 001L3, cart detect=1
2011-01-04T11:44:34.645073, robot, cmo_eval_op_state START: cmo_status=0, operat
ion=2, code=0, operationalState=0
2011-01-04T11:44:34.646704, robot, cmo_eval_op_state checking to see if cart pre
sent will be over-ridden by grip position
2011-01-04T11:44:34.648271, robot, cmo_eval_op_state sensor read - Reach Safe:1,
Cartridge Present:0
2011-01-04T11:44:34.649917, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:34.650494, robot, cmo_eval_op_state END: cmo_status=0, operatio
n=2, code=0, operationalState=0
2011-01-04T11:44:34.652184, robot, directorUserAuditData: Addr: (LMRC) 0,1,1,1,
Label:DG 001L3, Present:1, Upside Down:0, Magazine Absent:0
2011-01-04T11:44:34.653872, robot,
Last chunk=false
2011-01-04T11:44:34.673340, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:44:34.675202, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,2,1 -> calibrated=1, retarget=0, top TZW=36,-278,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:44:34.676900, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,2,1, targ offsets (sign co
rrected) top:bot(TZW)=36,-278,-60:0,0,0 (mils)
2011-01-04T11:44:34.677437, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
mils)
2011-01-04T11:44:36.734779, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,3,1, targ offsets (sign co
rrected) top:bot(TZW)=36,-278,-60:0,0,0 (mils)
2011-01-04T11:44:36.735071, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:44:36.736395, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=198,5450,213 cal positions(TZW)=234,5
172,153 (mils)
2011-01-04T11:44:36.736762, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:44:36.738178, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_START_OFFSET_Z, dim_value = -780 (mils)
2011-01-04T11:44:36.738480, robot-cmo, cmo_move_arm: commanding arm to (TZW) 234
,4396,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:44:36.738794, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:36.754983, servo, servo - operation 0x0012 on track
2011-01-04T11:44:36.758380, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:36.760212, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=1.549400, end=1.543300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:36.761942, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:36.765597, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:44:36.767316, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:36.768933, servo, srv get_profile_resp: track final pos=254 tac
hs (235 mils, 1.549400 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:36.781864, servo, servo - operation 0x0012 on z
2011-01-04T11:44:36.787197, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:36.790571, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=55.983311, end=59.668407, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:44:36.794030, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:36.794612, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:36.799676, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:44:36.812736, servo, servo - operation 0x0012 on wrist
2011-01-04T11:44:36.816275, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:36.818197, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:36.821520, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:36.825193, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:44:36.827028, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:36.828889, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:36.839578, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:36.851984, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:36.857645, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:37.297332, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
Cartridge Present:0
2011-01-04T11:44:40.697115, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:40.698561, robot, cmo_eval_op_state END: cmo_status=0, operatio
n=2, code=0, operationalState=0
2011-01-04T11:44:40.698965, robot, directorUserAuditData: Addr: (LMRC) 0,1,4,1,
Label:000149L3, Present:1, Upside Down:0, Magazine Absent:0
2011-01-04T11:44:40.700305, robot,
Last chunk=false
2011-01-04T11:44:40.712935, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:44:40.713419, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,5,1 -> calibrated=1, retarget=0, top TZW=115,-229,-60, bottom TZW=0,0,0
(mils)
2011-01-04T11:44:40.714915, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,5,1, targ offsets (sign co
rrected) top:bot(TZW)=115,-229,-60:0,0,0 (mils)
2011-01-04T11:44:40.715204, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:44:40.716574, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=198,7685,213 cal positions(TZW)=313,7
456,153 (mils)
2011-01-04T11:44:40.716944, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:44:40.718326, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_START_OFFSET_Z, dim_value = -780 (mils)
2011-01-04T11:44:40.718616, robot-cmo, cmo_move_arm: commanding arm to (TZW) 313
,6680,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:44:40.718933, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:40.735094, servo, servo - operation 0x0012 on track
2011-01-04T11:44:40.738416, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:40.740205, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=2.092300, end=2.061800, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:40.742000, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:40.745648, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:44:40.747313, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:40.748967, servo, srv get_profile_resp: track final pos=343 tac
hs (317 mils, 2.092300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:40.761865, servo, servo - operation 0x0012 on z
2011-01-04T11:44:40.767292, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:40.770677, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=86.950058, end=90.669716, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:44:40.774453, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:40.776082, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:40.784988, servo, servo - operation 0x0012 on wrist
2011-01-04T11:44:40.790442, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:44:40.794049, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:40.796069, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:40.797802, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:40.800004, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
chs (4667 mils, 30.829399 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:55.260910, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:55.272320, servo, servo - operation 0x0012 on z
2011-01-04T11:44:55.275713, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:55.277544, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=47.070591, end=43.149876, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:44:55.279265, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:55.281224, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:44:55.302911, servo, servo - operation 0x0012 on wrist
2011-01-04T11:44:55.306101, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:55.306478, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:55.308175, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:55.310054, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:44:55.311756, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:55.313491, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:55.327796, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:55.335383, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:55.340518, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:55.792996, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:55.793345, servo, srv get_profile_resp: z final pos=13684 tachs
(3167 mils, 42.989655 rads), distance=301 mils, srv_status=0, result code=0
2011-01-04T11:44:55.801961, service-metrics, z, Time 0.000242:0.000380:0.000522(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:55.811065, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:55.820028, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 4667,3167,152 (mils)
2011-01-04T11:44:56.016778, robot, scanUserTarget: Returning target bars=13, ret
urnVal=0, code=0, targetReadTime=0.194517
2011-01-04T11:44:56.066961, robot-cfg-calib, cmo_target target found: Scanner Ho
rizontal Offset=69 (-left/+right)MILS, Vertical Offset=-43 (-up/+down)MILS
2011-01-04T11:44:56.070990, robot-cfg-calib, Cfg_calib_library_cal_class::get: R
ight Half, Cal'd=1, offsets (TZW)=0,0,-60 (mils)
2011-01-04T11:44:56.072523, robot-cfg-calib, cmo_target: Applying Library Calibr
ation offset to Wrist
2011-01-04T11:44:56.076081, robot-config, cfg_parse_get_dimension succesful: dim
_name = CALIB_RETARGET_TOLERANCE, dim_value = 15 (mils)
2011-01-04T11:44:56.078167, robot-cmo, cmo_move_arm: commanding arm to (TZW) 473
6,3124,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:44:56.079765, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:56.095916, servo, servo - operation 0x0012 on track
2011-01-04T11:44:56.097568, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:56.098040, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=30.829399, end=31.280800, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:44:56.099617, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:56.101343, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:44:56.121422, servo, servo - operation 0x0012 on z
2011-01-04T11:44:56.123353, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:56.124948, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=42.989655, end=42.402176, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:44:56.126623, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:56.128422, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:44:56.155634, servo, servo - operation 0x0012 on wrist
2011-01-04T11:44:56.157617, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:56.159426, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:56.161198, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:56.164695, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:44:56.166495, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:56.168136, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:56.184760, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:56.195455, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:56.371778, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:56.372127, servo, srv get_profile_resp: track final pos=5119 ta
chs (4727 mils, 31.225899 rads), distance=60 mils, srv_status=0, result code=0
2011-01-04T11:44:56.380992, service-metrics, track, Time 0.000284:0.000369:0.000
556(Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:56.384567, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:56.431346, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:56.431694, servo, srv get_profile_resp: z final pos=13463 tachs
(3116 mils, 42.295361 rads), distance=51 mils, srv_status=0, result code=0
2011-01-04T11:44:56.440479, service-metrics, z, Time 0.000243:0.000340:0.000526(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:56.466062, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:56.473383, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 4727,3115,152 (mils)
2011-01-04T11:44:56.667852, robot, scanUserTarget: Returning target bars=11, ret
urnVal=0, code=0, targetReadTime=0.191158
2011-01-04T11:44:56.713219, robot-cfg-calib, cmo_target target found: Scanner Ho
rizontal Offset=7 (-left/+right)MILS, Vertical Offset=7 (-up/+down)MILS
2011-01-04T11:44:56.716695, robot-cfg-calib, Cfg_calib_library_cal_class::get: R
ight Half, Cal'd=1, offsets (TZW)=0,0,-60 (mils)
2011-01-04T11:44:56.718028, robot-cfg-calib, cmo_target: Applying Library Calibr
ation offset to Wrist
2011-01-04T11:44:56.721953, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,2 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:56.725590, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,2 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:56.727206, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,2 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
=0
2011-01-04T11:44:56.853887, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:56.855518, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:44:56.880949, servo, servo - operation 0x0012 on z
2011-01-04T11:44:56.882705, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:56.884405, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=42.295361, end=120.587173, direction=1, end_seg=2, lead_on_decel
=0
2011-01-04T11:44:56.886030, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:56.887949, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:44:56.916791, servo, servo - operation 0x0012 on wrist
2011-01-04T11:44:56.918753, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:56.920588, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:56.922326, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:56.925875, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:44:56.927679, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:56.929315, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:56.947278, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:56.956602, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:57.122168, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:57.122518, servo, srv get_profile_resp: track final pos=5053 ta
chs (4666 mils, 30.823299 rads), distance=64 mils, srv_status=0, result code=0
2011-01-04T11:44:57.134832, service-metrics, track, Time 0.000283:0.000367:0.000
560(Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:57.138754, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:58.577385, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:58.577734, servo, srv get_profile_resp: z final pos=38330 tachs
(8871 mils, 120.417526 rads), distance=5755 mils, srv_status=0, result code=0
2011-01-04T11:44:58.586360, service-metrics, z, Time 0.000242:0.000419:0.000716(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:58.589893, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:58.595524, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 4667,8871,152 (mils)
2011-01-04T11:44:58.788859, robot, scanUserTarget: Returning target bars=9, retu
rnVal=0, code=0, targetReadTime=0.191098
2011-01-04T11:44:58.994219, robot, scanUserTarget: Returning target bars=7, retu
rnVal=0, code=0, targetReadTime=0.187873
2011-01-04T11:44:59.203321, robot, scanUserTarget: Returning target bars=9, retu
rnVal=0, code=0, targetReadTime=0.194945
2011-01-04T11:44:59.219701, robot-cmo, cmo_move_arm: commanding arm to (TZW) 466
8,8934,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:44:59.221287, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:59.237381, servo, servo - operation 0x0012 on track
2011-01-04T11:44:59.237978, robot, Srv_mech_parm_class::state - parmsOn = 0
chs (9138 mils, 60.365601 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:27.679146, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:27.691882, servo, servo - operation 0x0012 on z
2011-01-04T11:45:27.695372, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:27.697198, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=44.397091, end=46.542805, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:45:27.698941, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:27.700929, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:27.722564, servo, servo - operation 0x0012 on wrist
2011-01-04T11:45:27.725827, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:27.726203, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:45:27.727882, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:27.729795, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:45:27.731541, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:27.733335, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:27.749340, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:27.758368, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:27.763647, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:28.124215, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:28.124564, servo, srv get_profile_resp: z final pos=14762 tachs
(3417 mils, 46.376297 rads), distance=146 mils, srv_status=0, result code=0
2011-01-04T11:45:28.133400, service-metrics, z, Time 0.000243:0.000379:0.001010(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:28.137010, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:28.142605, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 9138,3416,152 (mils)
2011-01-04T11:45:28.359054, robot, scanUserTarget: Returning target bars=0, retu
rnVal=6, code=5416, targetReadTime=0.212835
2011-01-04T11:45:28.627405, robot, scanUserTarget: Returning target bars=0, retu
rnVal=6, code=5416, targetReadTime=0.264625
2011-01-04T11:45:28.837059, robot, scanUserTarget: Returning target bars=0, retu
rnVal=6, code=5416, targetReadTime=0.206050
2011-01-04T11:45:28.840640, robot-cmo, cmo_move_arm: commanding arm to (TZW) 913
8,3229,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:45:28.842272, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:28.858537, servo, servo - operation 0x0012 on track
2011-01-04T11:45:28.860219, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:28.861752, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=60.359497, end=60.359497, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:45:28.862225, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:28.865578, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:45:28.865937, robot, srv_utils_isr_get_response: Recieved Response
0
2011-01-04T11:45:29.649769, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:29.650336, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:45:29.671734, servo, servo - operation 0x0012 on z
2011-01-04T11:45:29.673606, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:29.675311, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=43.683949, end=43.338371, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:45:29.676903, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:29.677475, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:29.708026, servo, servo - operation 0x0012 on wrist
2011-01-04T11:45:29.711454, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:29.713211, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:45:29.715061, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:29.716974, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:45:29.718879, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:29.720611, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:29.740304, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:29.751286, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:29.927578, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:29.927956, servo, srv get_profile_resp: track final pos=9974 ta
chs (9210 mils, 60.841400 rads), distance=73 mils, srv_status=0, result code=0
2011-01-04T11:45:29.936875, service-metrics, track, Time 0.000296:0.000385:0.000
591(Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:29.940421, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:29.949235, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:29.949584, servo, srv get_profile_resp: z final pos=13753 tachs
(3183 mils, 43.206425 rads), distance=35 mils, srv_status=0, result code=0
2011-01-04T11:45:29.958471, service-metrics, z, Time 0.000247:0.000337:0.000737(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:29.962077, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:29.969142, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 9210,3183,152 (mils)
2011-01-04T11:45:30.167799, robot, scanUserTarget: Returning target bars=11, ret
urnVal=0, code=0, targetReadTime=0.196457
2011-01-04T11:45:30.216532, robot-cfg-calib, cmo_target target found: Scanner Ho
rizontal Offset=7 (-left/+right)MILS, Vertical Offset=5 (-up/+down)MILS
2011-01-04T11:45:30.221735, robot-cfg-calib, Cfg_calib_library_cal_class::get: R
ight Half, Cal'd=1, offsets (TZW)=0,0,-60 (mils)
2011-01-04T11:45:30.223437, robot-cfg-calib, cmo_target: Applying Library Calibr
ation offset to Wrist
2011-01-04T11:45:30.230410, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,3 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:30.232296, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,3 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
3033 (mils)
2011-01-04T11:45:39.788438, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:39.804845, servo, servo - operation 0x0012 on z
2011-01-04T11:45:39.806504, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:39.806976, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=30.420113, end=41.167526, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:45:39.808612, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:39.810350, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:40.544158, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:40.544508, servo, srv get_profile_resp: z final pos=13039 tachs
(3018 mils, 40.963322 rads), distance=777 mils, srv_status=0, result code=0
2011-01-04T11:45:40.553743, service-metrics, z, Time 0.000243:0.000406:0.000920(
Min:Avg:Max secs), MSI's=1
2011-01-04T11:45:40.557307, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:41.114103, robot, label=000127L3, cart detect=1
2011-01-04T11:45:41.115958, robot, cmo_eval_op_state START: cmo_status=0, operat
ion=2, code=0, operationalState=0
2011-01-04T11:45:41.116245, robot, cmo_eval_op_state checking to see if cart pre
sent will be over-ridden by grip position
2011-01-04T11:45:41.117600, robot, cmo_eval_op_state sensor read - Reach Safe:1,
Cartridge Present:0
2011-01-04T11:45:41.117944, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:41.119375, robot, cmo_eval_op_state END: cmo_status=0, operatio
n=2, code=0, operationalState=0
2011-01-04T11:45:41.119819, robot, directorUserAuditData: Addr: (LMRC) 0,1,1,3,
Label:000127L3, Present:1, Upside Down:0, Magazine Absent:0
2011-01-04T11:45:41.121175, robot,
Last chunk=false
2011-01-04T11:45:41.133871, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:45:41.134352, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,2,3 -> calibrated=1, retarget=0, top TZW=80,-141,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:45:41.135850, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,2,3, targ offsets (sign co
rrected) top:bot(TZW)=80,-141,-60:0,0,0 (mils)
2011-01-04T11:45:41.136139, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:45:41.137562, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=9138,4410,213 cal positions(TZW)=9218
,4269,153 (mils)
2011-01-04T11:45:41.137922, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:45:41.139324, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_START_OFFSET_Z, dim_value = -780 (mils)
2011-01-04T11:45:41.139608, robot-cmo, cmo_move_arm: commanding arm to (TZW) 921
8,3493,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:45:41.141099, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:41.160833, servo, servo - operation 0x0012 on track
2011-01-04T11:45:41.161468, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:41.164410, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=60.896297, end=60.890198, direction=-1, end_seg=2, lead_on_decel
=0
,6472,153 (mils)
2011-01-04T11:45:45.189754, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:45:45.190059, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_START_OFFSET_Z, dim_value = -780 (mils)
2011-01-04T11:45:45.191866, robot-cmo, cmo_move_arm: commanding arm to (TZW) 921
5,5696,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:45:45.193565, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:45.211429, servo, servo - operation 0x0012 on track
2011-01-04T11:45:45.213234, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:45.213709, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=60.890198, end=60.865799, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:45:45.215236, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:45.216934, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:45:45.242168, servo, servo - operation 0x0012 on z
2011-01-04T11:45:45.244079, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:45.245735, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=71.911224, end=77.314774, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:45:45.247440, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:45.249287, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:45.285414, servo, servo - operation 0x0012 on wrist
2011-01-04T11:45:45.287370, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:45.289045, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:45:45.290784, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:45.292828, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:45:45.294432, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:45.294804, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:45.310706, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:45.334541, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:45.427907, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:45.428288, servo, srv get_profile_resp: track final pos=9972 ta
chs (9209 mils, 60.829197 rads), distance=9 mils, srv_status=0, result code=0
2011-01-04T11:45:45.442206, service-metrics, track, Time 0.000295:0.000347:0.000
498(Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:45.449675, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:45.819117, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:45.819465, servo, srv get_profile_resp: z final pos=24545 tachs
(5681 mils, 77.110573 rads), distance=383 mils, srv_status=0, result code=0
2011-01-04T11:45:45.828536, service-metrics, z, Time 0.000244:0.000397:0.000866(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:45.832139, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:45.839386, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 9211,5680,152 (mils)
2011-01-04T11:45:45.840892, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:45:45.842497, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,3 -> calibrated=1, retarget=0, top TZW=77,-173,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:45:45.842945, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,4,3, targ offsets (sign co
rrected) top:bot(TZW)=77,-173,-60:0,0,0 (mils)
2011-01-04T11:45:45.846164, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:45:45.846456, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=9138,6645,213 cal positions(TZW)=9215
,6472,153 (mils)
2011-01-04T11:45:45.848266, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:45:45.849719, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_END_OFFSET_Z, dim_value = 0 (mils)
2011-01-04T11:45:45.850009, robot-cmo, cmo_move_arm_z_scan_req: commanding arm t
o (Z) 6476 (mils)
2011-01-04T11:45:45.850256, servo, srv_user_move_mech_z_scan_req: scanType=3, to
6476 (mils)
2011-01-04T11:45:45.853800, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:45.866457, servo, servo - operation 0x0012 on z
2011-01-04T11:45:45.868164, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:45.869792, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=77.110573, end=87.901970, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:45:45.871318, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:45.871890, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:46.607176, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:46.607526, servo, srv get_profile_resp: z final pos=27926 tachs
(6463 mils, 87.732323 rads), distance=783 mils, srv_status=0, result code=0
2011-01-04T11:45:46.616435, service-metrics, z, Time 0.000242:0.000408:0.000950(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:46.619992, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:47.685721, robot-cmo, cmo_user_audit_cell_scan failed: read_sta
tus=1, read_result.code=0, robot_status=0 robot_result.code=0
2011-01-04T11:45:47.686142, robot, cmo_eval_op_state START: cmo_status=2, operat
ion=2, code=0, operationalState=0
2011-01-04T11:45:47.687595, robot, cmo_eval_op_state checking to see if cart pre
sent will be over-ridden by grip position
2011-01-04T11:45:47.687874, robot, cmo_eval_op_state sensor read - Reach Safe:1,
Cartridge Present:0
2011-01-04T11:45:47.689310, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:47.689625, robot, cmo_eval_op_state END: cmo_status=2, operatio
n=2, code=0, operationalState=0
2011-01-04T11:45:47.691216, robot, directorUserAuditData: Addr: (LMRC) 0,1,4,3,
Label:, Present:0, Upside Down:0, Magazine Absent:0
2011-01-04T11:45:47.691487, robot,
Last chunk=false
2011-01-04T11:45:47.712762, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:45:47.714373, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,5,3 -> calibrated=1, retarget=0, top TZW=77,-173,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:45:47.714773, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,5,3, targ offsets (sign co
rrected) top:bot(TZW)=77,-173,-60:0,0,0 (mils)
2011-01-04T11:45:47.716408, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:45:47.716682, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=9138,7685,213 cal positions(TZW)=9215
,7512,153 (mils)
2011-01-04T11:45:47.718135, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:45:47.718435, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_START_OFFSET_Z, dim_value = -780 (mils)
2011-01-04T11:45:47.719882, robot-cmo, cmo_move_arm: commanding arm to (TZW) 921
5,6736,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:45:47.720217, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:47.741490, servo, servo - operation 0x0012 on track
2011-01-04T11:45:47.743503, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:47.745176, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=60.871899, end=60.865799, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:45:47.745654, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:47.747287, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:45:47.748916, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:47.749252, servo, srv get_profile_resp: track final pos=9979 ta
chs (9215 mils, 60.871899 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:47.759736, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:47.790593, servo, servo - operation 0x0012 on z
2011-01-04T11:45:47.792340, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:47.793899, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=87.732323, end=91.429985, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:45:47.795551, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:47.796128, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:47.824850, servo, servo - operation 0x0012 on wrist
2011-01-04T11:45:47.826755, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:47.828509, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:45:47.830223, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:47.832138, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:45:47.833978, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:47.835644, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:47.850225, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:47.875303, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:47.879069, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:48.298737, robot, srv_utils_isr_get_response: Recieved Response
et Pending, pending=1
2011-01-04T11:45:51.738133, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:45:51.739950, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:51.741871, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:51.750741, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:51.765399, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:51.772276, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:52.316649, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:52.316999, servo, srv get_profile_resp: z final pos=38892 tachs
(9001 mils, 122.183105 rads), distance=459 mils, srv_status=0, result code=0
2011-01-04T11:45:52.325912, service-metrics, z, Time 0.000237:0.000393:0.000549(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:52.329468, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:52.333082, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 9214,9001,152 (mils)
2011-01-04T11:45:52.334611, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:45:52.336526, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,7,3 -> calibrated=1, retarget=0, top TZW=77,-173,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:45:52.337081, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,7,3, targ offsets (sign co
rrected) top:bot(TZW)=77,-173,-60:0,0,0 (mils)
2011-01-04T11:45:52.338593, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:45:52.340071, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=9138,9965,213 cal positions(TZW)=9215
,9792,153 (mils)
2011-01-04T11:45:52.340637, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:45:52.342176, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_END_OFFSET_Z, dim_value = 0 (mils)
2011-01-04T11:45:52.343949, robot-cmo, cmo_move_arm_z_scan_req: commanding arm t
o (Z) 9796 (mils)
2011-01-04T11:45:52.345564, servo, srv_user_move_mech_z_scan_req: scanType=3, to
9796 (mils)
2011-01-04T11:45:52.346012, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:52.359846, servo, servo - operation 0x0012 on z
2011-01-04T11:45:52.362040, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:52.364013, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=122.183105, end=132.968216, direction=1, end_seg=2, lead_on_dece
l=0
2011-01-04T11:45:52.365890, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:52.369227, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:53.103080, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:53.103428, servo, srv get_profile_resp: z final pos=42275 tachs
(9784 mils, 132.811142 rads), distance=783 mils, srv_status=0, result code=0
2011-01-04T11:45:53.112261, service-metrics, z, Time 0.000243:0.000404:0.000554(
RC) 0,1,1,4 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:58.931755, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,1,4 -> top TZW=72,-121,-60, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:58.933760, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,4 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:58.935406, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,1,4 -> top TZW=72,-121,-60, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:58.942879, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,4 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:58.973002, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,1,4 -> top TZW=13,8,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:58.974934, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,4 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:58.976631, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,1,4 -> top TZW=53,-129,-61, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:58.978549, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,4 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:58.980238, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,1,4 -> top TZW=65,-129,-61, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:58.982141, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,4 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:58.985496, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,4 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:58.987449, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,4 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:58.989102, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,1,4 -> top TZW=72,-121,-60, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:58.991101, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,4 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:58.992849, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,1,4 -> top TZW=72,-121,-60, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:58.994797, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,4 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:58.996427, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,1,4 -> top TZW=72,-121,-60, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:59.003873, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,4 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:59.005605, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,1,4 -> top TZW=13,8,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:59.007445, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,4 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:59.009142, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,1,4 -> top TZW=53,-129,-61, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:59.010977, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,4 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:59.012747, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,1,4 -> top TZW=65,-129,-61, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:59.014347, robot, cmo_eval_op_state START: cmo_status=0, operat
ion=3, code=0, operationalState=0
2011-01-04T11:45:59.014847, robot, cmo_eval_op_state checking to see if cart pre
sent will be over-ridden by grip position
2011-01-04T11:45:59.016518, robot, cmo_eval_op_state sensor read - Reach Safe:1,
Cartridge Present:0
2011-01-04T11:45:59.018158, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:59.018687, robot, cmo_eval_op_state END: cmo_status=0, operatio
n=3, code=0, operationalState=0
2011-01-04T11:45:59.021709, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,2,4 -> calibrated=1, retarget=0, top TZW=72,-121,-60, bottom TZW=0,0,0 (
mils)
RC) 0,1,4,4 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:46:06.531123, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,4,4 -> top TZW=45,-168,-61, bottom TZW=0,0,0 (mils)
2011-01-04T11:46:06.532924, robot, cmo_eval_op_state START: cmo_status=0, operat
ion=3, code=0, operationalState=0
2011-01-04T11:46:06.533418, robot, cmo_eval_op_state checking to see if cart pre
sent will be over-ridden by grip position
2011-01-04T11:46:06.534997, robot, cmo_eval_op_state sensor read - Reach Safe:1,
Cartridge Present:0
2011-01-04T11:46:06.536694, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:06.538302, robot, cmo_eval_op_state END: cmo_status=0, operatio
n=3, code=0, operationalState=0
2011-01-04T11:46:06.540137, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,5,4 -> calibrated=1, retarget=0, top TZW=57,-163,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:46:06.541938, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,6,4 -> calibrated=1, retarget=0, top TZW=57,-163,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:46:06.544087, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,7,4 -> calibrated=1, retarget=0, top TZW=57,-163,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:46:06.545837, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:46:06.547734, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,4 -> calibrated=1, retarget=0, top TZW=72,-121,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:46:06.549481, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,1,4, targ offsets (sign co
rrected) top:bot(TZW)=72,-121,-60:0,0,0 (mils)
2011-01-04T11:46:06.551131, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:46:06.552734, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=13608,3170,213 cal positions(TZW)=136
80,3049,153 (mils)
2011-01-04T11:46:06.554477, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:46:06.555015, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_START_OFFSET_Z, dim_value = -780 (mils)
2011-01-04T11:46:06.556625, robot-cmo, cmo_move_arm: commanding arm to (TZW) 136
80,2273,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:46:06.558353, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:06.574623, servo, servo - operation 0x0012 on track
2011-01-04T11:46:06.576383, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:06.577915, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=90.237297, end=90.365395, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:46:06.578425, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:06.580133, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:46:06.601610, servo, servo - operation 0x0012 on z
2011-01-04T11:46:06.603624, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:06.605212, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=118.309509, end=30.850512, direction=-1, end_seg=2, lead_on_dece
l=0
2011-01-04T11:46:06.606877, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:06.608709, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:46:06.636123, servo, servo - operation 0x0012 on wrist
2011-01-04T11:46:06.639533, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:06.641283, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:46:06.643215, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:06.645141, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:46:06.648353, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:06.648704, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:46:06.704484, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:46:06.711778, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:06.816261, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:06.817908, servo, srv get_profile_resp: track final pos=14794 t
achs (13661 mils, 90.243401 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:46:06.829082, service-metrics, track, Time 0.000297:0.000367:0.000
770(Min:Avg:Max secs), MSI's=0
2011-01-04T11:46:06.834380, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:08.384936, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:08.385286, servo, srv get_profile_resp: z final pos=9788 tachs
(2265 mils, 30.749981 rads), distance=6451 mils, srv_status=0, result code=0
2011-01-04T11:46:08.394207, service-metrics, z, Time 0.000243:0.000436:0.000953(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:46:08.397774, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:08.404999, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 13682,2265,152 (mils)
2011-01-04T11:46:08.405311, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:46:08.407154, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,4 -> calibrated=1, retarget=0, top TZW=72,-121,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:46:08.408897, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,1,4, targ offsets (sign co
rrected) top:bot(TZW)=72,-121,-60:0,0,0 (mils)
2011-01-04T11:46:08.410498, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:46:08.410749, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=13608,3170,213 cal positions(TZW)=136
80,3049,153 (mils)
2011-01-04T11:46:08.414178, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:46:08.415672, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_END_OFFSET_Z, dim_value = 0 (mils)
2011-01-04T11:46:08.415959, robot-cmo, cmo_move_arm_z_scan_req: commanding arm t
o (Z) 3053 (mils)
2011-01-04T11:46:08.417737, servo, srv_user_move_mech_z_scan_req: scanType=3, to
3053 (mils)
2011-01-04T11:46:08.419379, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:08.433822, servo, servo - operation 0x0012 on z
2011-01-04T11:46:08.435538, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:19.870981, robot,
Last chunk=false
2011-01-04T11:46:19.883516, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:46:19.885072, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,6,4 -> calibrated=1, retarget=0, top TZW=57,-163,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:46:19.885481, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,6,4, targ offsets (sign co
rrected) top:bot(TZW)=57,-163,-60:0,0,0 (mils)
2011-01-04T11:46:19.885763, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:46:19.887195, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=13608,8725,213 cal positions(TZW)=136
65,8562,153 (mils)
2011-01-04T11:46:19.887551, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:46:19.888937, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_START_OFFSET_Z, dim_value = -780 (mils)
2011-01-04T11:46:19.889216, robot-cmo, cmo_move_arm: commanding arm to (TZW) 136
65,7786,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:46:19.890661, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:19.910959, servo, servo - operation 0x0012 on track
2011-01-04T11:46:19.912788, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:19.914224, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=90.261696, end=90.261696, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:46:19.915807, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:19.917588, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:46:19.917975, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:19.919411, servo, srv get_profile_resp: track final pos=14797 t
achs (13664 mils, 90.261696 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:46:19.928947, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:46:19.961056, servo, servo - operation 0x0012 on z
2011-01-04T11:46:19.962892, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:19.964437, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=102.004608, end=105.683418, direction=1, end_seg=2, lead_on_dece
l=0
2011-01-04T11:46:19.964922, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:19.966645, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:46:19.993730, servo, servo - operation 0x0012 on wrist
2011-01-04T11:46:19.995721, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:19.997336, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:46:19.999069, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:20.001064, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:46:20.002800, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:20.004449, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:46:20.018909, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
et Pending, pending=1
2011-01-04T11:46:25.615020, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:46:25.643731, servo, servo - operation 0x0012 on wrist
2011-01-04T11:46:25.645672, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:25.647457, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.366400, end=126.721397, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:46:25.649200, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:25.651143, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:46:27.394527, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:27.394877, servo, srv get_profile_resp: z final pos=14337 tachs
(3318 mils, 45.041119 rads), distance=6477 mils, srv_status=0, result code=0
2011-01-04T11:46:27.403853, service-metrics, z, Time 0.000244:0.000432:0.000842(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:46:27.407404, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:27.426989, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:27.427340, servo, srv get_profile_resp: wrist final pos=20782 t
achs (14209 mils, 126.770195 rads), distance=14056 mils, srv_status=0, result co
de=0
2011-01-04T11:46:27.436205, service-metrics, wrist, Time 0.000242:0.000420:0.000
732(Min:Avg:Max secs), MSI's=0
2011-01-04T11:46:27.439814, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:27.452509, servo, servo - operation 0x0012 on track
2011-01-04T11:46:27.454346, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:27.455852, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=84.716797, end=89.889595, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:46:27.456332, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:27.458081, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:46:27.943067, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:27.944520, servo, srv get_profile_resp: track final pos=14721 t
achs (13594 mils, 89.798096 rads), distance=769 mils, srv_status=0, result code=
0
2011-01-04T11:46:27.952131, service-metrics, track, Time 0.000294:0.000428:0.000
577(Min:Avg:Max secs), MSI's=0
2011-01-04T11:46:27.957060, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:27.962740, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 13592,3318,14201 (mils)
2011-01-04T11:46:28.166422, robot, scanUserTarget: Returning target bars=21, ret
urnVal=0, code=0, targetReadTime=0.200279
2011-01-04T11:46:28.213262, robot, targetValid(): Valid Run Length Exceeded, max
= 19, runLength = 21
2011-01-04T11:46:28.410278, robot, scanUserTarget: Returning target bars=13, ret
urnVal=0, code=0, targetReadTime=0.194719
2011-01-04T11:46:28.633970, robot, scanUserTarget: Returning target bars=13, ret
urnVal=0, code=0, targetReadTime=0.195216
2011-01-04T11:46:28.662400, robot-cmo, cmo_move_arm: commanding arm to (TZW) 136
08,3379,14204 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:46:28.664217, robot, srv_user_is_reach_safe: cart present sensor=0
mech=2
2011-01-04T11:46:38.143249, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:38.144917, servo, srv get_profile_resp: wrist final pos=20774 t
achs (14203 mils, 126.721397 rads), distance=0 mils, srv_status=0, result code=0
AMCC PowerPC 405GP Rev. E at 198 MHz (PLB=99, OPB=49, EBC=33 MHz)
Internal PCI arbiter enabled, PCI async ext clock used
16 kB I-Cache 8 kB D-Cache
RLC DRAM size: 128
H/W rev 0
I2C: ready
DRAM: 128 MB
FLASH: 32 MB
*** Warning - bad CRC, using default environment
PCI:
2.4.18_mvl30
Amd/Fujitsu Extended Query Table at 0x0040
while this kerneId Card Flash: CFI does not contain boot bank location. Assuming
top.
l is version 2.4number of CFI chips: 1
.18-030
WarningUsing page write method
: loading rlc_secfi_cmdset_0002: Disabling fast programming due to code brokenne
ss.
rvo will taint tId Card Flash: Found 1 x16 devices at 0x0 in 8-bit mode
he kernel: no li Amd/Fujitsu Extended Query Table at 0x0040
cense
See httId Card Flash: CFI does not contain boot bank location. Assuming top.
p://www.tux.org/number of CFI chips: 1
lkml/#export-taiUsing page write method
nted for informacfi_cmdset_0002: Disabling fast programming due to code brokenne
ss.
tion about taintcmdlinepart partition parsing not available
ed modules
WarnRedBoot partition parsing not available
ing: loading rlcUsing physmap partition definition
_servo will tainCreating 3 MTD partitions on "Id Card Flash":
t the kernel: fo0x00000000-0x007fffff : "Id Card General Use"
rced load
Using0x00800000-0x01feffff : "Id Card raw space"
/lib/modules/2.0x01ff0000-0x01ffffff : "protected space"
4.18/rlc_scan.o
insmod: Warning: kernel-module version mismatch
/lib/modules/2.4.18/rlc_scan.o was compiled for kernel version 2.4.18_mv
l30
while this kernel is version 2.4.18-030
Warning: loading rlc_scan will taint the kernel: no license
See http://www.tux.org/lkml/#export-tainted for information about tainted modu
les
Warning: loading rlc_scan will taint the kernel: forced load
Using /lib/modules/2.4.18/scsi_tgt.o
insmod: Warning: kernel-module version mismatch
/lib/modules/2.4.18/scsi_tgt.o was compiled for kernel version 2.4.18_mv
l30
while this kernel is version 2.4.18-030
Warning: loading scsi_tgt will taint the kernel: no license
See http://www.tux.org/lkml/#export-tainted for information about tainted modu
les
Warning: loading scsi_tgt will taint the kernel: forced load
Using /lib/modules/2.4.18/hwMonitor.o
insmod: Warning: kernel-module version mismatch
/lib/modules/2.4.18/hwMonitor.o was compiled for kernel version 2.4.18_m
vl30
while this kernel is version 2.4.18-030
Warning: loading hwMonitor will taint the kernel: no license
See http://www.tux.org/lkml/#export-tainted for information about tainted modu
les
Warning: loading hwMonitor will taint the kernel: forced load
Using /lib/modules/2.4.18/rlcIdcard_physmap.o
insmod: Warning: kernel-module version mismatch
/lib/modules/2.4.18/rlcIdcard_physmap.o was compiled for kernel version
2.4.18_mvl30
while this kernel is version 2.4.18-030
Warning: loading rlcIdcard_physmap will taint the kernel: forced load
See http://www.tux.org/lkml/#export-tainted for information about tainted modu
les
Using /lib/modules/2.4.18/ralloc.o
insmod: Warning: kernel-module version mismatch
/lib/modules/2.4.18/ralloc.o was compiled for kernel version 2.4.18_mvl3
0
while this kernel is version 2.4.18-030
Warning: loading ralloc will taint the kernel: no license
See http://www.tux.org/lkml/#export-tainted for information about tainted modu
les
Warning: loading ralloc will taint the kernel: forced load
0
: expandapps() Expanding /mnt/flash/snmp.tarball /usr/local
16270+1 records in
16270+1 records out
0
: expandapps() Unzipped and extracted /usr/local/temp.tar.gz successful
ly
0
: crammount() Mounting /mnt/flash/libs.cramfs /dev/ram2 /mnt/libs
41984+0 records in
41984+0 records out
0
: crammount() Mounted /mnt/flash/libs.cramfs successfully
ln: /usr/share/terminfo/x: No such file or directory
root: /dev/nvram e2fsck check:
/dev/nvram was not cleanly unmounted, check forced.
/dev/nvram: Inode 13, i_blocks is 32, should be 20. FIXED.
/dev/nvram: Inode 28, i_blocks is 20, should be 10. FIXED.
/dev/nvram: /lost+found not found. CREATED.
/dev/nvram: 47/1024 files (4.3% non-contiguous), 202/1023 blocks
root: Mounting /mnt/nvram
/dev/nvram on /mnt/nvram type ext2 (rw)
root: /dev/nvram is cleaned up
Loading packet filters
INIT: Entering runlevel: 3
root: Setting network parameters:
root: Bringing up interface: eth0
opening eth0 on emac 0
eth0: IBM EMAC: link up, 100 Mbps Full Duplex, auto-negotiation complete.
eth0: IBM EMAC: MAC 00:10:4f:07:72:81.
eth0: IBM EMAC: open completed
root: Bringing up interface: eth1
root: Bringing up interface: lo
Starting portmap daemon: portmap.
root: Starting system log daemon: syslogd
root: Starting system log daemon: klogd
Starting internet superserver: inetd.
root: Starting NTP server: /usr/sbin/cronyd
ssh: Starting OpenBSD Secure Shell server:
ssh: sshd
ssh: done.
snmp: Starting SNMP trap daemon: snmptrapd
snmp: Starting SNMP agent daemon (AgentX master): snmpd
snmp: Starting SNMP agent daemon (AgentX subagent): snmpdX
snmp: Starting SNMP sub-agent daemon: snmpsubd
Preparing the file system for the stklog daemon
root: /etc/rc.d/rc3.d/S85apps: Prestart of the STK Applications!
root: /etc/rc.d/rc3.d/S85apps: Reset the Local OpPanel Hardware
root: /etc/init.d/mount_app_filesys: Mounting filesystems/Starting STK applicati
ons.
root: expandapps() Expanding /mnt/flash/green.tarball /usr/local/bin
97634+1 records in
97634+1 records out
AMCC PowerPC 405GP Rev. E at 198 MHz (PLB=99, OPB=49, EBC=33 MHz)
Internal PCI arbiter enabled, PCI async ext clock used
16 kB I-Cache 8 kB D-Cache
RLC DRAM size: 128
H/W rev 0
I2C: ready
DRAM: 128 MB
FLASH: 32 MB
*** Warning - bad CRC, using default environment
PCI:
>TERM=linux<
we are changing root to device 256
buf = 256
Done with linuxrc...
Freeing unused kernel memory: 64k init
INIT: version 2.78 booting
Using /lib/modules/2.4.18/rlcfpga.o
insmod: Warning: kernel-module version mismatch
/lib/modules/2.4.18/rlcfpga.o was compiled for kernel version 2.4.18_mvl
30
while this kernel is version 2.4.18-030
Warning: loading rlcfpga will taint the kernel: no license
See http://www.tux.org/lkml/#export-tainted for information about tainted modu
les
Warning: loading rlcfpga will taint the kernel: forced load
Useth1: PCI device 8086:1209, ing /lib/modulesBA:/2.4.18/i82559etBE:h.o
insmod: WarBE:ning: kernel-mod00:ule version mism00:atch
/lib/modu01, les/2.4.18/i8255IRQ 26.
9eth.o was compi General self-test: passed.
led for kernel v Serial sub-system self-test: passed.
ersion 2.4.18_mv Internal registers self-test: passed.
l30
while this ROM checksum self-test: passed (0x1d68d8db).
kernel is versi Receiver lock-up workaround activated.
on 2.4.18-030
Warning: loading i82559eth will taint the kernel: forced load
See http://www.tux.org/lkml/#expNVRAM bank size is 2MB
ort-tainted for information about tainted modules
Using /lib/modules/2.4.18/nvram.o
insmod: Warning: kernel-mosysfru: installed driver REV(1.01)
dule version mismatch
/lib/modules/2.4.18/nvram.o was compiled for kernel version 2.4.18_mvl30
while this kephysmap flash device: 2000000 at fe000000
rnel is version 2.4.18-030
WarnPhysically mapped flash: Found 1 x16 devices at 0x0 in 8-bit mode
ing: loading nvr Amd/Fujitsu Extended Query Table at 0x0040
am will taint thPhysically mapped flash: CFI does not contain boot bank location
. Assuming top.
e kernel: no licnumber of CFI chips: 1
ense
See httpUsing page write method
://www.tux.org/lcfi_cmdset_0002: Disabling fast programming due to code brokenne
ss.
kml/#export-taincmdlinepart partition parsing not available
ted for informatRedBoot partition parsing not available
ion about tainteUsing physmap partition definition
d modules
WarniCreating 6 MTD partitions on "Physically mapped flash":
ng: loading nvra0x00000000-0x01deffff : "ELIB work space"
m will taint the0x01df0000-0x01f2ffff : "Root disk image"
kernel: forced 0x01f30000-0x01fdffff : "Linux kernel"
load
Using /lib0x01fe0000-0x01ffffff : "PPCBoot"
/modules/2.4.18/0x00000000-0x01fbffff : "JFFS2 space"
sysfru.o
insmod0x01fc0000-0x01ffffff : "U-Boot"
: Warning: kernel-module version mismatch
/lib/modules/2.4.18/sysfru.o was compiled for kernel version 2.4.18_mvl3
0
while this kernel is version 2.4.18-030
Warning: loading sysfru will taint the kernel: no license
See http://www.tux.org/lkml/#export-tainted for information about tainted modu
les
Warning: loading sysfru will taint the kernel: forced load
Using /lib/modules/2.4.18/mtd.o
insmod: Warning: kernel-module version mismatch
/lib/modules/2.4.18/mtd.o was compiled for kernel version 2.4.18_mvl30
while this kernel is version 2.4.18-030
Warning: loading mtd will tain/dev/scsi_tgt0 -- Found QLogic 0x2300 device!
t the kernel: fo/dev/scsi_tgt0 -- resource start = 0xfe00
rced load
See/dev/scsi_tgt0 -- resource end = 0xfeff
http://www.tux.org/lkml/#export-tainted for information about tainted modules
Using /lib/modules/2.4.18/rlc_servo.o
insmod: Warning: kernel-module version mismatch
/lib/modules/2.4.18/rlc_servo.o was compiled for kernel version 2.4.18_I
d Card Flash: Found 1 x16 devices at 0x0 in 8-bit mode
mvl30
while th Amd/Fujitsu Extended Query Table at 0x0040
is kernel is verId Card Flash: CFI does not contain boot bank location. Assuming
top.
number of CFI chips: 1
Warning: loadinUsing page write method
g rlc_servo willcfi_cmdset_0002: Disabling fast programming due to code brokenne
ss.
taint the kerneId Card Flash: Found 1 x16 devices at 0x0 in 8-bit mode
l: no license
Amd/Fujitsu Extended Query Table at 0x0040
See http://www.Id Card Flash: CFI does not contain boot bank location. Assuming
top.
tux.org/lkml/#exnumber of CFI chips: 1
port-tainted forUsing page write method
information abocfi_cmdset_0002: Disabling fast programming due to code brokenne
ss.
ut tainted modulcmdlinepart partition parsing not available
es
Warning: loaRedBoot partition parsing not available
ding rlc_servo wUsing physmap partition definition
ill taint the keCreating 3 MTD partitions on "Id Card Flash":
rnel: forced loa0x00000000-0x007fffff : "Id Card General Use"
d
Using /lib/mo0x00800000-0x01feffff : "Id Card raw space"
dules/2.4.18/rlc0x01ff0000-0x01ffffff : "protected space"
_scan.o
insmod: Warning: kernel-module version mismatch
/lib/modules/2.4.18/rlc_scan.o was compiled for kernel version 2.4.18_mv
l30
while this kernel is version 2.4.18-030
Warning: loading rlc_scan will taint the kernel: no license
See http://www.tux.org/lkml/#export-tainted for information about tainted modu
les
Warning: loading rlc_scan will taint the kernel: forced load
Using /lib/modules/2.4.18/scsi_tgt.o
insmod: Warning: kernel-module version mismatch
/lib/modules/2.4.18/scsi_tgt.o was compiled for kernel version 2.4.18_mv
l30
while this kernel is version 2.4.18-030
OK
Connection to localhost closed.
Welcome. Tue Jan 4 2011 12:19:48
sl502 login:
Welcome. Tue Jan 4 2011 11:42:44
sl502 login: service
The authenticity of host 'localhost (127.0.0.1)' can't be established.
RSA key fingerprint is cd:7a:67:31:20:3f:21:38:9f:d4:83:30:ce:38:b8:45.
Are you sure you want to continue connecting (yes/no)? yes
Warning: Permanently added 'localhost' (RSA) to the list of known hosts.
Password:
Starting your CLI session ... (this may take a few seconds)
You are the only client
SERVICE>> help
usage: help <topic>
help all
OK
SERVICE>> help all
address < <library> | host | <host partition> >
This command translates the given address to the other format.
If you enter the library address you will get a host address.
If you enter a host address you will get a library address.
A library address is specified as L,M,R,C.
If partitioning is in effect, the partition number must follow the host addre
ss.
The host address is specified as decimal or hex with a leading '0x'.
Example: 'address 500' or 'address 0x1fe' or 'address 0,1,4,2'
Example: 'address 500 2' for the host address 500 in partition 2
autoclean print
Show the library's current 'autoclean' option setting
autoclean <on|off>
Set the 'autoclean on/off' option.
This option controls whether or not the library performs drive cleaning
automatically or not.
Setting option to 'on' will drives to be automatically cleaned when
needed.
Setting option to 'off' will disable automatic drive cleaning.
If the host software is handling drive cleaning the option should be off.
cap <module#> <io|storage>
Configure the specified module's CAP as I/O or as storage cells.
capconfig print
Display CAP configuration.
cartridge print
Show location, volser, and media type for all cartridges.
cartridge print reserved
Show location, volser, and media type for reserved cartridges.
cleancartcount print
Show the library's current list of cleaning cartridges and cleaning counts.
cleancartcount <label> <count>
Set the number of cleans for a given cartridge label.
The cartridge must be a cleaning cartridge and must be in the cleaning
list. The cleaning list is not complete until audit is finished.
cleanwarnthreshold print
Show the library's current warning threshold count for cleaning cartridges.
cleanwarnthreshold <count> <drivetype>
Set a warning threshold count for the number of cleans a cartridge can
perform for a given drive type before a warning is issued.
<drivetype> is 'lto' or 'dlt'.
If the value is set to 0 no warning will be issued.
codeload 'filename'
Load in new code image.
date <print> | <mm/dd/yyyy>
Print or set the library's date value. Takes the library off of
network time if set.
diagcaps
Diagnose the CAPs.
diagcontinueoutput
Contiue output from a diagnostic started in a previous client session.
diagdemo <diagdemo> <count> <mode>
Moves any cartridge from a random source to a random destination.
Example: diagdemo 10 silent
Example: diagdemo 100 nonsilent
diagdoor
Diagnose the Door.
diaggetput <diaggetput> <diag type> <source addr|random>
<destination addr|random|all> <count> <mode>
Moves the diagnostic cartridge from the specified or random source
to the specified or random destination.
The "all" parameter refers to all drives.
Example: diaggetput cellToCell 0,1,2,1 0,1,3,3 10 silent
Example: diaggetput cellToCell 0,1,2,1 0,1,5,2 5 nonsilent
Example: diaggetput cellToDrive 0,1,2,1 0,1,2,9 5 nonsilent
Example: diaggetput cellToDrive 0,1,3,2 all 5 silent
diagquery <diagquery> <diag type> <count> <mode>
Example: diagquery basicHealth 10 silent
Example: diagquery basicHealth 10 nonsilent
diagselftest <src address> <loop count> <mode>
Performs library basic health diagnostic. Then does get/put
operations from the src address to random empty cells in the
library. Then performs mounts from the src address to all drives
attached to the library. The test requires atleast one piece of media
and one drive.
Example: diagselftest 0,1,1,2 2 silent
Example: diagselftest 0,2,1,1 10 nonsilent
diagstop
Stop the 'Diag' operation.
driveFaultLEDs
Show the library's drive enclosure fault LEDs state
drive all
Show drive information for all drives.
drive <addr> clean
Clean the specified drive. A label may be specified when prompted.
drive <addr> getconfig
Show the specified drive's fibre channel or SCSI configuration.
drive <addr> gettime
Show the specified drive's Time-of-Day (TOD) clock setting.
drive <addr> info
Show the specified drive's information.
reserved print
Show the library's current reserved cell count.
reserved <number of cells>
Set the maximum number of reserved(playground) library storage cells
in the library.
resetdefaults
Reset library defaults: admin password='', CAPs = I/O,
barcode is 6 characters (left6) left aligned for host,
barcode is 8 characters (left8) left aligned for oppanel,
reserved slots = 0, inventory mode is labels required,
service inventory set to off.
resetoppanel
Cause a hard Op Panel reset to occur.
resetpw <admin> | <oem> | <service> | <oppanel> | <all>
Places the specified login password back to the -needs activatedstate. This is used to recover forgotten passwords.
scanaudit print
Show the library's current 'scanaudit' option setting
scanaudit <on|off>
Set the 'scanaudit on/off' option.
This option controls whether or not the library performs a scanning audit.
Setting option to 'on' will casue scanning audits. This is the default.
Setting option to 'off' will disable scanning audits.
Hard to read labels are more difficult to read with scanning audit,
but it is faster than reading each individual location.
serviceinfo clear
WARNING: Clears ALL service contact information.
serviceinfo print
Display service contact information.
serviceinfo set contact '<contactString>' |
streetAddr '<streetAddrString>' |
city '<cityString>' |
state '<stateString>' |
country '<countryString>' |
zip '<zipString>' |
description '<locationString>' |
phone '<phoneString>' |
pager '<pagerString>' |
email '<emailString>' |
assetnumber '<assetNumString>' |
Sets the service contact information, library location
information, library assetnumber, and library location
description
session timeout <minutes>
Sets the timeout of this session. If no characters are typed
within this time frame, the user is logged off.
shutdown
Orderly shutdown of library
snmp addTrapRecipient
trapLevel <trapLevelString>
host <hostName | hostAddr>
version <v2c community <communityString>
|
v3 name <trapUserName>
auth <MD5 | SHA>
authPass <authPassPhrase>
[priv <DES | AES>
privPass <privPassPhrase>]
engineId <engineIdString>
where <trapLevelString is a single digit or a comma separated
list of digits 1,2,3,4,... or *
and <hostName | hostAddr> need to be fully qualified.
The engine ID shall be string of at most 31 hex characters,
preceded with 0x.
snmp addUser
version <v2c community <communityString>
|
v3 name <trapUserName>
auth <MD5 | SHA>
authPass <authPassPhrase>
[priv <DES | AES>
privPass <privPassPhrase>]
snmp deleteTrapRecipient
<id <index>
|
host <hostName | hostAddr>
version <v2c community <communityString>
|
v3 name <trapUserName> > >
The <hostName | hostAddr> need to be fully qualified
snmp deleteUser
<id <index>
|
version <v2c community <communityString>
|
v3 name <userName> > >
snmp disable port<portID>
snmp enable port<portID>
where <portID> is 1B, public, or 1A
Notes: - Ethernet ports: port1B = public, port1A = private
- Ports 2A, and 2B are currently unavailable on this library
snmp listTrapRecipients
snmp listUsers
ssh print
Show the current SSH allowed version setting
ssh < setversion2 | setversion1or2 >
setversion2: Restrict ssh to connect only with protcol version 2 (more secur
e)
setversion1or2: Allow ssh to connect with either protocol version 2 (first) o
r version 1
statistics robot print
Show the total number of get/put operations, retries, and failures.
statistics library print
Show number of Boots/initializations.
Show cumulative uptime (updated hourly).
Show uptime since last boot.
statistics media print <byDate | byMedia | byDrive>
Display various drive and media events useful for isolating drive or
media errors. The event types are MediaError, LoadError, UnloadError,
LoadRetry, and DriveError The output is sorted by one of the following key
words
byDate - (default) displays output sorted by date/time with the most
recent events first
byMedia - groups the output by Volume ID in order of the media with
2010-12-10T09:01:25.946,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "No HW Config CAP label for Base unit, assuming LTO module
."
2010-12-17T09:10:38.469,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for z"
2010-12-17T09:10:46.498,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5051, "Asynchronous event for reach: Door Opened"
2010-12-17T09:25:52.067,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "No HW Config CAP label for Base unit, assuming LTO module
."
2010-12-21T14:05:32.992,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "CAP in module 1, shows closed after attempting to open"
2010-12-21T14:05:53.926,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "CAP in module 1, shows closed after attempting to open"
2010-12-21T14:06:13.466,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "CAP in module 1, shows closed after attempting to open"
2010-12-21T14:06:38.960,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for z"
2010-12-21T14:06:47.715,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5051, "Asynchronous event for reach: Door Opened"
2010-12-21T14:09:13.517,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "No HW Config CAP label for Base unit, assuming LTO module
."
2010-12-21T14:11:35.930,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for z"
2010-12-21T14:17:36.019,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "No HW Config CAP label for Base unit, assuming LTO module
."
2010-12-23T09:14:20.212,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for z"
2010-12-23T09:14:29.047,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5051, "Asynchronous event for reach: Door Opened"
2010-12-23T09:28:08.219,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "No HW Config CAP label for Base unit, assuming LTO module
."
2010-12-30T09:53:00.421,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for z"
2010-12-30T09:53:08.259,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5051, "Asynchronous event for reach: Door Opened"
2010-12-30T10:01:27.589,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "No HW Config CAP label for Base unit, assuming LTO module
."
2011-01-03T03:02:45.155,
0.0.9.0.2, 000,
robot-cmo,
, warn, 0000, 0000, "Performed put retry. Put retry total = 1. Address for thi
s retry (LMRC) 0,1,2,9"
2011-01-03T03:02:52.425,
0.0.9.0.2, 000,
robot-cmo,
, warn, 0000, 0000, "Performed put retry. Put retry total = 2. Address for thi
s retry (LMRC) 0,1,2,9"
2011-01-03T03:02:59.465,
0.0.9.0.2, 000,
robot-cmo,
, warn, 0000, 0000, "Performed put retry. Put retry total = 3. Address for thi
s retry (LMRC) 0,1,2,9"
2011-01-03T03:03:06.686,
0.0.9.0.2, 000,
robot-cmo,
, warn, 0000, 0000, "Performed put retry. Put retry total = 4. Address for thi
s retry (LMRC) 0,1,2,9"
2011-01-03T03:03:13.169,
0.0.0.0.0, 3202,
ifm,
, warn, 0000, 3305, "IFM drive event and the Library state is unknown."
2011-01-03T17:31:52.054,
0.0.0.0.0, 3202,
ifm,
, warn, 0000, 3305, "IFM drive event and the Library state is unknown."
2011-01-03T17:31:52.134,
0.0.0.0.0, 3202,
ifm,
, warn, 0000, 3305, "IFM drive event and the Library state is unknown."
2011-01-03T17:37:44.487,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for track"
2011-01-03T17:37:44.566,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for wrist"
2011-01-03T17:37:44.647,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for reach"
2011-01-03T17:37:44.824,
0.0.0.0.0, 3202,
ifm,
, warn, 0000, 3305, "IFM drive event and the Library state is unknown."
2011-01-03T17:37:44.844,
0.0.0.0.0, 3202,
ifm,
, warn, 0000, 3305, "IFM drive event and the Library state is unknown."
2011-01-04T09:29:01.120,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for track"
2011-01-04T09:29:01.199,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for wrist"
2011-01-04T09:29:01.277,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for reach"
2011-01-04T09:29:01.425,
0.0.0.0.0, 3202,
ifm,
, warn, 0000, 3305, "IFM drive event and the Library state is unknown."
2011-01-04T09:29:01.445,
0.0.0.0.0, 3202,
ifm,
, warn, 0000, 3305, "IFM drive event and the Library state is unknown."
2011-01-04T11:36:16.804,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5051, "Asynchronous event for reach: Door Opened"
2011-01-04T11:43:50.203,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "No HW Config CAP label for Base unit, assuming LTO module
."
log_info:
=======================
2011-01-04T11:43:57.083,
0.0.0.0.0, 000, Config-License,
, info, 0000, 0000, "Processing legacy licenses"
2011-01-04T11:43:57.134,
0.0.0.0.0, 000, Config-License,
, info, 0000, 0000, "License checking - LimitedBase exists: 99001"
2011-01-04T11:44:28.345,
0.0.1.0.1, 000,
robot, /usr/local/bin/D
irector, info, 0000, 0000, "targetValid(): Valid Run Length Exceeded, max = 19
, runLength = 27"
2011-01-04T11:44:28.612,
0.0.1.0.1, 000,
robot, /usr/local/bin/D
irector, info, 0000, 0000, "targetValid(): Valid Run Length Exceeded, max = 19
, runLength = 27"
2011-01-04T11:44:29.568,
0.0.1.0.1, 000,
robot, /usr/local/bin/D
irector, info, 0000, 0000, "targetValid(): Valid Run Length Exceeded, max = 19
, runLength = 29"
2011-01-04T11:44:43.555,
0.0.0.0.0, 001, sensor-manager,
, info, 0000, 0000, "SensorPowerFuncs: doPwrSupplyState - Module 1 Power Suppl
y 1 has become operational"
2011-01-04T11:44:43.732,
0.0.0.0.0, 000,
LibMD,
, info, 0000, 0000, "Service Beacon is DEACTIVATED: Current Health Event indic
ates Power Supply 01 in Module 01 is operational"
2011-01-04T11:44:48.884,
0.0.0.0.0, 001, sensor-manager,
, info, 0000, 0000, "SensorPowerFuncs: doPwrSupplyState - Module 1 Power Suppl
y 2 has become operational"
2011-01-04T11:44:49.008,
0.0.0.0.0, 000,
LibMD,
, info, 0000, 0000, "Service Beacon is DEACTIVATED: Current Health Event indic
ates Power Supply 02 in Module 01 is operational"
2011-01-04T11:44:53.393,
0.0.2.0.1, 000,
robot, /usr/local/bin/D
irector, info, 0000, 0000, "targetValid(): Valid Run Length Exceeded, max = 19
, runLength = 23"
2011-01-04T11:44:53.641,
0.0.2.0.1, 000,
robot, /usr/local/bin/D
irector, info, 0000, 0000, "targetValid(): Valid Run Length Exceeded, max = 19
, runLength = 23"
log_diagnostic:
=======================
log_config:
=======================
2011-01-04T11:41:47.064,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Code Version in flash: 1373 (6.53.00)"
2011-01-04T11:41:47.084,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Vendor type: STK"
2011-01-04T11:41:48.441,
0.0.0.0.0, 000,
OpPanel,
, config, 0000, 0000, "No LCD display present"
2011-01-04T11:41:59.954,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Scan firmware version is SXX_302I"
2011-01-04T11:42:02.847,
0.0.0.1.0, 000,
robot,
, config, 0000, 0000, "HW Rev in scanner is 003"
2011-01-04T11:43:56.789,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Module for cap info
1, 2, 3, 4, 5, 6"
2011-01-04T11:43:56.804,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Caps installed:
1, 0, 0, 0, 0, 0"
2011-01-04T11:43:56.824,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Cap configured as caps: 1, 0, 0, 0, 0, 0"
2011-01-04T11:43:57.027,
0.0.0.0.0, 000, Config-License,
, config, 0000, 0000, "The following Licenses are stored:"
2011-01-04T11:43:57.051,
0.0.0.0.0, 000, Config-License,
, config, 0000, 0000, "SL500_license_config_99001.lsf, filedate=2009-11-24 13:25
"
2011-01-04T11:43:57.181,
0.0.0.0.0, 000, Config-License,
, config, 0000, 0000, " License Sequence:99001 with Feature name:Capacity value:
LimitedBase assigned to module:1"
2011-01-04T11:43:58.870,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Cell restrictions in effect: max_cells=30"
2011-01-04T11:43:58.892,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Reserved cells in effect: reserved count=1"
2011-01-04T11:43:58.913,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Physical modules=1, key enabled modules=1"
2011-01-04T11:43:58.941,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Module 1: Base drive CAP last"
2011-01-04T11:43:59.144,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Partition not allowed at init."
2011-01-04T11:43:59.189,
0.0.0.0.0, 1000,
host,
, config, 1201, 0000, "Host Partitioning Selected"
2011-01-04T11:43:59.379,
0.0.0.0.0, 1000,
host,
, config, 1201, 0000, "Multiple LUN partition"
2011-01-04T11:44:02.095,
0.0.0.0.0, 1000,
scsi-engine,
, config, 1200, 0000, "FIBRE TRANSPORT LAYER for /dev/scsi_tgt0"
2011-01-04T11:44:02.372,
0.0.0.0.0, 1000,
scsi-engine,
, config, 1200, 0000, "Desired Fibre Settings for port 0: hard_addressing = 0,
loop_id = 0, node_wwn = 50:01:04:f0:00:8f:16:0f, port_wwn = 50:01:04:f0:00:8f:1
6:10"
2011-01-04T11:44:02.403,
0.0.0.0.0, 1000,
host,
, config, 1201, 0000, "Device 0 - 1 host port(s) detected"
2011-01-04T11:44:03.160,
0.0.0.0.0, 1000,
scsi-engine,
, config, 1200, 0000, "Current Fibre Settings for port 0: hard_addressing = 0,
loop_id = 255, node_wwn = 50:01:04:f0:00:8f:16:0f, port_wwn = 50:01:04:f0:00:8f:
16:10"
2011-01-04T11:44:15.673,
0.0.1.0.1, 000,
robot,
, config, 0000, 0000, "Setting Shutter Speed to: 200"
2011-01-04T11:44:17.790,
0.0.1.0.1, 000,
robot,
, config, 0000, 0000, "Setting Shutter Speed to: 400"
log_trace:
=======================
2011-01-04T11:41:26.977779, processMgr, readConfigFileNonProcessItems() rebootCo
untThreshold = 4
2011-01-04T11:41:26.978797, processMgr, readConfigFileNonProcessItems() rebootTi
meThreshold = 10800
2011-01-04T11:41:26.979858, processMgr, readConfigFileNonProcessItems() rebootTh
resholdRecovery = suspendRecovery
2011-01-04T11:41:26.981756, processMgr, readConfigFileNonProcessItems() User reb
oot file = ""
2011-01-04T11:41:26.982355, processMgr, readConfigFileNonProcessItems() User shu
tdown file = ""
2011-01-04T11:41:26.983035, processMgr, readConfigFileNonProcessItems() User rec
overy file = "/usr/local/bin/rebootOnInit"
2011-01-04T11:41:29.082914, processMgr, runCommand: systemCmd = ./verdeSetup
2011-01-04T11:41:29.220233, robot, verdeSetup - Application Exiting.
2011-01-04T11:41:29.233948, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/EventMgr ()
2011-01-04T11:41:30.249142, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/OdsMgr ()
2011-01-04T11:41:33.159306, ods, Unable to get IP address for eth1
2011-01-04T11:41:33.160262, ods, Unable to get net mask for eth1
2011-01-04T11:41:33.183047, ods, File syncing turned ON
2011-01-04T11:41:33.195082, ods, OdsMgr initialization completed.
2011-01-04T11:41:34.334422, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/AccessMgr ()
2011-01-04T11:41:34.399557, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/LibMD ()
2011-01-04T11:41:34.433455, processMgr, runCommand: systemCmd = /etc/init.d/snmp
restart
2011-01-04T11:41:34.655203, LibMD, LibMD Starting
2011-01-04T11:41:34.683313, LibMD, LibMD Registered for LibMD Events
2011-01-04T11:41:41.472453, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/VSnmp ()
2011-01-04T11:41:41.480308, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/VSnmpMIB ()
2011-01-04T11:41:41.488353, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/VSnmpRelay ()
2011-01-04T11:41:42.080486, VSnmpTrap, VSnmp Starting
2011-01-04T11:41:42.090603, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/VTtiMain ()
2011-01-04T11:41:42.094283, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/Host ()
2011-01-04T11:41:42.136923, VSnmpTrap, THREAD STARTED
2011-01-04T11:41:42.285156, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/VDriveMain ()
2011-01-04T11:41:42.285813, processMgr, runCommand: systemCmd = ./hbbSetup
2011-01-04T11:41:42.755421, VSnmpRelay, CLI Relay STARTED
2011-01-04T11:41:42.758171, VSnmpRelay, CLI Relay Socket
2011-01-04T11:41:42.758898, VSnmpRelay, CLI Relay Bind
2011-01-04T11:41:43.142156, VSnmpMIB, MIB DATA STARTED
2011-01-04T11:41:43.148143, VSnmpMIB, MIB DATA Socket
2011-01-04T11:41:43.148879, VSnmpMIB, MIB DATA Bind
2011-01-04T11:41:43.170200, VSnmpRelay, CLI Relay Listen
2011-01-04T11:41:43.170748, VSnmpRelay, Client Select Fired
2011-01-04T11:41:43.170999, VSnmpRelay, ISSET mySocket
2011-01-04T11:41:43.171469, VSnmpRelay, CLI Relay acceptSocket
2011-01-04T11:41:43.172679, VSnmpRelay, CLI Relay announcePresence: = <request s
equence="1"><command>announcePresence</command><requestId>internalActivity</requ
estId><parms><deviceType>snmp</deviceType></parms></request>
sr/local/bin/srv_track
2011-01-04T11:41:44.526211, tti-dbg-13, vttiTask: Started for Drive 13
2011-01-04T11:41:44.526515, tti-dbg-13, vttiTask: Waiting for Request
2011-01-04T11:41:44.529144, tti-dbg-14, vttiTask: Started for Drive 14
2011-01-04T11:41:44.529446, tti-dbg-14, vttiTask: Waiting for Request
2011-01-04T11:41:44.542726, servo, srv_mech_get: mech is track
2011-01-04T11:41:44.544363, servo, srv_mech_task: setting real time priority for
mech=track
2011-01-04T11:41:44.545094, servo, sys_set_rt_priority(): rt_priority enum=2, sc
hp.sched_priority=117
2011-01-04T11:41:44.551137, servo, srv_mech_get: mech is reach
2011-01-04T11:41:44.552774, servo, srv_mech_task: setting real time priority for
mech=reach
2011-01-04T11:41:44.553506, servo, sys_set_rt_priority(): rt_priority enum=3, sc
hp.sched_priority=112
2011-01-04T11:41:44.562123, tti-dbg-15, vttiTask: Started for Drive 15
2011-01-04T11:41:44.562530, tti-dbg-15, vttiTask: Waiting for Request
2011-01-04T11:41:44.492279, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/srv_isr ()
2011-01-04T11:41:44.685841, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/Director ()
2011-01-04T11:41:44.858161, servo, srv_mech_get: sys_task_get_id() mechTaskId=/u
sr/local/bin/srv_wrist
2011-01-04T11:41:44.889782, servo, srv_mech_get: sys_task_get_id() mechTaskId=/u
sr/local/bin/srv_strack
2011-01-04T11:41:44.892906, servo, srv_mech_get: mech is strack
2011-01-04T11:41:44.895508, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/Ifm ()
2011-01-04T11:41:44.926255, tti-dbg-16, vttiTask: Started for Drive 16
2011-01-04T11:41:44.926562, tti-dbg-16, vttiTask: Waiting for Request
2011-01-04T11:41:44.929210, tti-dbg-17, vttiTask: Started for Drive 17
2011-01-04T11:41:44.929513, tti-dbg-17, vttiTask: Waiting for Request
2011-01-04T11:41:44.945711, servo, srv_mech_task: setting real time priority for
mech=s-track
2011-01-04T11:41:44.946396, servo, sys_set_rt_priority(): rt_priority enum=2, sc
hp.sched_priority=117
2011-01-04T11:41:44.951988, servo, srv_mech_get: mech is wrist
2011-01-04T11:41:44.953612, servo, srv_mech_task: setting real time priority for
mech=wrist
2011-01-04T11:41:44.972942, servo, sys_set_rt_priority(): rt_priority enum=3, sc
hp.sched_priority=112
2011-01-04T11:41:44.981592, tti-dbg-18, vttiTask: Started for Drive 18
2011-01-04T11:41:44.981998, tti-dbg-18, vttiTask: Waiting for Request
2011-01-04T11:41:45.052806, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/VMonitor ()
2011-01-04T11:41:45.054972, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/SensorMgr ()
2011-01-04T11:41:45.307278, servo, srv_mech_get: sys_task_get_id() mechTaskId=/u
sr/local/bin/srv_z
2011-01-04T11:41:45.345671, servo, SRV ISR - Start
2011-01-04T11:41:45.348373, servo, srv_mech_get: mech is z
2011-01-04T11:41:45.351727, servo, srv_mech_task: setting real time priority for
mech=z
2011-01-04T11:41:45.352451, servo, sys_set_rt_priority(): rt_priority enum=3, sc
hp.sched_priority=112
2011-01-04T11:41:45.363553, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/Diag ()
2011-01-04T11:41:45.393182, servo, sys_set_rt_priority(): rt_priority enum=1, sc
hp.sched_priority=122
2011-01-04T11:41:45.395225, sys, sys_cpuinfo_get_cpu_clock: sys_cpuinfo_clock_fr
eq=198000000Hz
2011-01-04T11:41:45.402685, servo, ServoMoveData - initBuffer()
2011-01-04T11:41:45.434418, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/Stats ()
2011-01-04T11:41:45.724388, processMgr, runCommand: systemCmd = touch processMgr
.ready
2011-01-04T11:41:46.059039, LibMD, Sensor Manager is in mainloop.
2011-01-04T11:41:46.105939, sensor-manager, SensorManager: init value for sensor
/dev/mainDoorUnlock
2011-01-04T11:41:46.203098, sensor-manager, SensorManager: init value for sensor
/dev/capUnlock
2011-01-04T11:41:46.302749, sensor-manager, SensorManager: init value for sensor
/dev/cap1
2011-01-04T11:41:46.402753, sensor-manager, SensorManager: init value for sensor
/dev/cap2
2011-01-04T11:41:46.472069, Statistics, Stats Starting
2011-01-04T11:41:46.482589, Statistics, MediaEventLogger::readFromStorageFile():
[/mnt/nvram/MediaDriveEvents.txt]
2011-01-04T11:41:46.502755, sensor-manager, SensorManager: init value for sensor
/dev/cap3
2011-01-04T11:41:46.523586, Statistics, MediaEventLogger::_getMediaEventFileLock
- obtaining lock
2011-01-04T11:41:46.524439, Statistics, MediaEventLogger::_getMediaEventFileLock
- got lock
2011-01-04T11:41:46.602762, sensor-manager, SensorManager: init value for sensor
/dev/cap4
2011-01-04T11:41:46.702745, sensor-manager, SensorManager: init value for sensor
/dev/cap5
2011-01-04T11:41:46.725117, Statistics, MediaEventLogger::dumpNamedFile(): [/usr
/local/share/MediaDriveEvents_uponBoot.txt]
2011-01-04T11:41:46.802770, sensor-manager, SensorManager: init value for sensor
/dev/cap6
2011-01-04T11:41:46.923651, sensor-manager, SensorManager: init value for sensor
/dev/mainDoor
2011-01-04T11:41:46.934064, access-manager, LIB_ACCESS_CLOSED, LED_OFF
2011-01-04T11:41:47.023468, access-manager, *** DOOR CLOSED
2011-01-04T11:41:47.031042, access-manager, AMDoorSensorEvent - Door closed even
t
2011-01-04T11:41:47.031318, access-manager, AM: Transition START->(AM_DOOR_CLOSE
D_TRANSITION)->AUDIT LIBRARY, cap button(disabled) door button(enabled)
2011-01-04T11:41:47.032137,
or = 1 cap = 0
2011-01-04T11:41:47.036065,
ND
2011-01-04T11:41:47.047745,
2011-01-04T11:41:47.049408,
2011-01-04T11:41:47.049684,
2011-01-04T11:41:47.050247,
2011-01-04T11:41:47.082970,
2011-01-04T11:41:47.102833,
2011-01-04T11:41:47.143384,
2011-01-04T11:41:47.353086,
2011-01-04T11:41:47.353632,
AILED = 6414
2011-01-04T11:41:47.353997,
2011-01-04T11:41:47.354341,
2011-01-04T11:41:48.209263,
eq=198000000Hz
d Successful
2011-01-04T11:42:02.521591, robot-config, cfg_parse_get_dimension succesful: dim
_name = COLUMN_0_TO_3_WRIST, dim_value = 213 (mils)
2011-01-04T11:42:02.538020, robot, Director - initialize lib cal data: rev = 1,
wrist offset = 182 mils, wrist_lash = 29 mils
2011-01-04T11:42:02.538555, robot-cfg-calib, Cfg_calib_library_cal_class::set: l
ib_half=1, offsets (TZW)=0,0,-60 (mils)
2011-01-04T11:42:02.539054, robot, Director - initialize lib cal data: wrist off
set = -60 mils, wrist_lash = 29 mils
2011-01-04T11:42:02.539519, robot, Director - initialize handbot 0
2011-01-04T11:42:02.540274, servo, Init Move to Negative Endstop reach mech
2011-01-04T11:42:02.548101, servo, servo - operation 0x0011 on reach
2011-01-04T11:42:02.548436, robot, mech_move_stall: mech=3, options=1
2011-01-04T11:42:02.548998, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:42:02.549615, servo, srv_mech_build_prof_request(): profile type=0
, mech=3, start=0.000000, end=-1830.000000, direction=-1, end_seg=1, lead_on_dec
el=0
2011-01-04T11:42:02.550917, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:42:02.551484, servo, srv_utils_isr_get_response: calling sigwait,
mech=3
2011-01-04T11:42:02.556154, servo, *** changing direction, mech=3, dir_bit=1
2011-01-04T11:42:02.812999, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:42:02.813344, servo, srv get_profile_resp: reach final pos=0 tachs
(0 mils, 0.000000 rads), distance=23 mils, srv_status=0, result code=0
2011-01-04T11:42:02.820768, service-metrics, reach, Time 0.000453:0.000536:0.001
413(Min:Avg:Max secs), MSI's=0
2011-01-04T11:42:02.821286, servo, Move Stall OK: start_t = 0, current_position
= 0, delta = 0 (tachs)
2011-01-04T11:42:02.821554, servo, Move Stall ZERO TACH: Oper0 = 54, Oper1 = 54,
Range = 0 (tachs)
2011-01-04T11:42:02.823788, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:42:02.847178, robot, HW Rev in scanner is 003
2011-01-04T11:42:02.863998, servo, Resetting counts per mil from file info.
2011-01-04T11:42:04.723122, robot, No configuration label!
2011-01-04T11:42:04.724207, robot, Director - not at home- calling general init
routine
2011-01-04T11:42:04.724760, robot-config, cfg_parse_get_dimension succesful: dim
_name = COLUMN_0_TO_3_WRIST, dim_value = 213 (mils)
2011-01-04T11:42:04.725281, robot-config, cfg_parse_get_dimension succesful: dim
_name = PARK_ZONE_TRACK, dim_value = 1400 (mils)
2011-01-04T11:42:04.725982, robot-config, cfg_parse_get_dimension succesful: dim
_name = SAFE_ZONE_TRACK, dim_value = 6500 (mils)
2011-01-04T11:42:04.726495, robot-config, cfg_parse_get_dimension succesful: dim
_name = SAFE_ZONE_Z, dim_value = 6000 (mils)
2011-01-04T11:42:04.733345, servo, servo - operation 0x0011 on track
2011-01-04T11:42:04.733675, robot, mech_move_stall: mech=0, options=0
2011-01-04T11:42:04.734065, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:42:04.735203, servo, srv_mech_build_prof_request(): profile type=0
, mech=0, start=0.000000, end=26.425200, direction=1, end_seg=1, lead_on_decel=0
2011-01-04T11:42:04.736479, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:42:04.737043, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:42:04.739991, servo, *** changing direction, mech=0, dir_bit=0
2011-01-04T11:42:06.789364, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:42:06.789714, servo, srv get_profile_resp: track final pos=4340 ta
chs (4008 mils, 26.473999 rads), distance=3998 mils, srv_status=0, result code=0
2011-01-04T11:42:06.798412, service-metrics, track, Time 0.000386:0.000517:0.000
768(Min:Avg:Max secs), MSI's=0
2011-01-04T11:42:06.798767, servo, Move Stall OK: start_t = 0, current_position
= 4340, delta = 4340 (tachs)
2011-01-04T11:42:06.800368, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:42:06.802689, servo, srv_user_mech_stall() Complete: mech=0, srv_s
tatus=0
2011-01-04T11:42:06.818435, servo, servo - operation 0x0011 on track
2011-01-04T11:42:06.818762, robot, mech_move_stall: mech=0, options=0
2011-01-04T11:42:06.819100, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:42:06.820019, servo, srv_mech_build_prof_request(): profile type=0
, mech=0, start=26.498400, end=13.285800, direction=-1, end_seg=1, lead_on_decel
=0
2011-01-04T11:42:06.820488, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:42:06.821807, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:42:07.993930, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:42:07.994277, servo, srv get_profile_resp: track final pos=2173 ta
chs (2007 mils, 13.255300 rads), distance=1995 mils, srv_status=0, result code=0
2011-01-04T11:42:07.999056, service-metrics, track, Time 0.000412:0.000525:0.000
765(Min:Avg:Max secs), MSI's=0
2011-01-04T11:42:07.999414, servo, Move Stall OK: start_t = 4344, current_positi
on = 2173, delta = 2171 (tachs)
2011-01-04T11:42:08.000253, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:42:08.003207, servo, srv_user_mech_stall() Complete: mech=0, srv_s
tatus=0
2011-01-04T11:42:08.003761, servo, Servo sweep wrist mech
2011-01-04T11:42:08.019239, servo, servo - operation 0x0011 on wrist
2011-01-04T11:42:08.019661, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:42:08.020810, servo, srv_mech_build_prof_request(): profile type=0
, mech=2, start=-0.006100, end=-1830.000000, direction=-1, end_seg=1, lead_on_de
cel=0
2011-01-04T11:42:08.021925, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:42:08.023144, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:42:08.026028, servo, *** changing direction, mech=2, dir_bit=1
2011-01-04T11:42:14.464885, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:42:14.465232, servo, srv get_profile_resp: wrist final pos=0 tachs
(0 mils, 0.000000 rads), distance=14323 mils, srv_status=0, result code=0
2011-01-04T11:42:14.474459, service-metrics, wrist, Time 0.000362:0.000485:0.000
748(Min:Avg:Max secs), MSI's=0
2011-01-04T11:42:14.475729, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:42:14.476070, servo, srv_mech_build_prof_request(): profile type=0
, mech=2, start=0.018300, end=1830.000000, direction=1, end_seg=1, lead_on_decel
=0
2011-01-04T11:42:14.477023, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:42:14.477874, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:42:21.007477, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:42:21.007828, servo, srv get_profile_resp: wrist final pos=21311 t
achs (14571 mils, 129.997101 rads), distance=14568 mils, srv_status=0, result co
de=0
2011-01-04T11:42:21.012977, service-metrics, wrist, Time 0.000367:0.000481:0.000
787(Min:Avg:Max secs), MSI's=0
2011-01-04T11:42:21.013336, servo, Sweep done: operat_pos_0 = 0, operat_pos_1 =
21311 (tachs)
2011-01-04T11:42:21.015219, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:42:21.018763, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:42:21.020021, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:42:21.038732, servo, servo - operation 0x0012 on wrist
2011-01-04T11:42:21.040210, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:42:21.090418, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=129.862900, end=129.997101, direction=1, end_seg=2, lead_on_dece
l=0
2011-01-04T11:42:21.090899, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:42:21.091968, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:42:21.093999, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:42:21.094334, servo, srv get_profile_resp: wrist final pos=21288 t
achs (14555 mils, 129.856796 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:42:21.099262, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:42:21.103005, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:42:21.105133, servo, Servo move wrist mech to 213 (mils)
2011-01-04T11:42:21.105539, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:42:21.128687, servo, servo - operation 0x0012 on wrist
2011-01-04T11:42:21.130192, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:42:21.130662, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=129.850693, end=1.897100, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:42:21.131663, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:42:21.132221, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:42:22.922512, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:42:22.922914, servo, srv get_profile_resp: wrist final pos=336 tac
hs (230 mils, 2.049600 rads), distance=14324 mils, srv_status=0, result code=0
2011-01-04T11:42:22.927895, service-metrics, wrist, Time 0.000287:0.000466:0.000
572(Min:Avg:Max secs), MSI's=0
2011-01-04T11:42:22.930070, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:42:22.931443, servo, Servo sweep track mech
2011-01-04T11:42:22.949540, servo, servo - operation 0x0011 on track
2011-01-04T11:42:22.949906, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:42:22.950245, servo, srv_mech_build_prof_request(): profile type=0
, mech=0, start=13.426100, end=-1830.000000, direction=-1, end_seg=1, lead_on_de
cel=0
2011-01-04T11:42:22.951577, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:42:22.952133, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:42:29.782878, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
chs (1000 mils, 6.624600 rads), distance=4206 mils, srv_status=0, result code=0
2011-01-04T11:42:58.581252, service-metrics, reach, Time 0.000284:0.000436:0.000
546(Min:Avg:Max secs), MSI's=0
2011-01-04T11:42:58.584605, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:42:58.585466, servo, Servo sweep grip mech
2011-01-04T11:42:58.612353, servo, servo - operation 0x0011 on grip
2011-01-04T11:42:58.613659, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:42:58.614267, servo, srv_mech_build_prof_request(): profile type=0
, mech=4, start=0.024400, end=-1830.000000, direction=-1, end_seg=1, lead_on_dec
el=0
2011-01-04T11:42:58.617360, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:42:58.620495, servo, *** changing direction, mech=4, dir_bit=1
2011-01-04T11:42:58.617921, servo, srv_utils_isr_get_response: calling sigwait,
mech=4
2011-01-04T11:42:59.194671, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:42:59.195014, servo, srv get_profile_resp: grip final pos=0 tachs
(0 mils, 0.000000 rads), distance=206 mils, srv_status=0, result code=0
2011-01-04T11:42:59.210665, service-metrics, grip, Time 0.000358:0.000372:0.0006
76(Min:Avg:Max secs), MSI's=0
2011-01-04T11:42:59.211098, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:42:59.212540, servo, srv_mech_build_prof_request(): profile type=0
, mech=4, start=0.006100, end=22.487040, direction=1, end_seg=1, lead_on_decel=0
2011-01-04T11:42:59.213050, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:42:59.216119, servo, srv_utils_isr_get_response: calling sigwait,
mech=4
2011-01-04T11:42:59.613009, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:42:59.613357, servo, srv get_profile_resp: grip final pos=3708 tac
hs (226 mils, 22.618799 rads), distance=223 mils, srv_status=0, result code=0
2011-01-04T11:42:59.621961, service-metrics, grip, Time 0.000327:0.000366:0.0004
50(Min:Avg:Max secs), MSI's=0
2011-01-04T11:42:59.622341, servo, Sweep done: operat_pos_0 = 246, operat_pos_1
= 3462 (tachs)
2011-01-04T11:42:59.625636, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:42:59.627665, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:42:59.654385, servo, servo - operation 0x0012 on grip
2011-01-04T11:42:59.656085, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:42:59.658038, servo, srv_mech_build_prof_request(): profile type=2
, mech=4, start=24.216999, end=21.118200, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:42:59.658512, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:42:59.660168, servo, srv_utils_isr_get_response: calling sigwait,
mech=4
2011-01-04T11:42:59.775178, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:42:59.775525, servo, srv get_profile_resp: grip final pos=3541 tac
hs (216 mils, 21.600100 rads), distance=26 mils, srv_status=0, result code=0
2011-01-04T11:42:59.782960, service-metrics, grip, Time 0.000295:0.000320:0.0003
61(Min:Avg:Max secs), MSI's=0
2011-01-04T11:42:59.786444, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:42:59.789503, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
achs (14205 mils, 126.733597 rads), distance=6967 mils, srv_status=0, result cod
e=0
2011-01-04T11:43:01.427236, service-metrics, wrist, Time 0.000237:0.000403:0.000
526(Min:Avg:Max secs), MSI's=0
2011-01-04T11:43:01.431151, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:02.034809, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:02.035161, servo, srv get_profile_resp: z final pos=8983 tachs
(2079 mils, 28.220993 rads), distance=8014 mils, srv_status=0, result code=0
2011-01-04T11:43:02.042582, service-metrics, z, Time 0.000241:0.000423:0.000525(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:43:02.046118, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:02.058470, servo, servo - operation 0x0012 on track
2011-01-04T11:43:02.060144, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:02.060497, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=42.937901, end=0.378200, direction=-1, end_seg=3, lead_on_decel=
0
2011-01-04T11:43:02.062079, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:02.063899, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:43:03.062776, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:03.063128, servo, srv get_profile_resp: track final pos=105 tac
hs (97 mils, 0.640500 rads), distance=6403 mils, srv_status=0, result code=0
2011-01-04T11:43:03.070550, service-metrics, track, Time 0.000291:0.000455:0.000
769(Min:Avg:Max secs), MSI's=0
2011-01-04T11:43:03.074121, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:03.079502, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 96,2079,14202 (mils)
2011-01-04T11:43:03.140880, robot-cmo, cmo_move_arm_z_scan_req: commanding arm t
o (Z) 3287 (mils)
2011-01-04T11:43:03.142280, servo, srv_user_move_mech_z_scan_req: scanType=3, to
3287 (mils)
2011-01-04T11:43:03.142582, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:03.156675, servo, servo - operation 0x0012 on z
2011-01-04T11:43:03.158388, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:03.158861, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=28.220993, end=44.613861, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:43:03.160405, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:03.162183, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:43:04.027582, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:04.027933, servo, srv get_profile_resp: z final pos=14152 tachs
(3275 mils, 44.459923 rads), distance=1196 mils, srv_status=0, result code=0
2011-01-04T11:43:04.035376, service-metrics, z, Time 0.000240:0.000401:0.000522(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:43:04.038875, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:04.590792, robot-cmo, auditUserMultiScan returned 0 labels
2011-01-04T11:43:04.592121, robot-cmo, cmo_move_arm: commanding arm to (TZW) 58,
2687,14204 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:43:04.592447, robot, srv_user_is_reach_safe: cart present sensor=0
=0
2011-01-04T11:43:14.206370, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:14.208240, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:43:14.222322, servo, servo - operation 0x0012 on wrist
2011-01-04T11:43:14.224262, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:14.225832, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=127.435097, end=127.435097, direction=-1, end_seg=2, lead_on_dec
el=0
2011-01-04T11:43:14.226309, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:14.228155, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:43:14.229876, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:14.231524, servo, srv get_profile_resp: wrist final pos=20891 t
achs (14283 mils, 127.435097 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:43:14.247467, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:43:14.254913, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:14.258730, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:14.865979, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:14.866329, servo, srv get_profile_resp: z final pos=11562 tachs
(2676 mils, 36.323177 rads), distance=599 mils, srv_status=0, result code=0
2011-01-04T11:43:14.874887, service-metrics, z, Time 0.000244:0.000394:0.000720(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:43:14.877336, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:14.880771, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 57,2675,14283 (mils)
2011-01-04T11:43:16.693012, robot, Scan cfg label adjust wrist over by 120
2011-01-04T11:43:16.693271, robot-cmo, Starting scanning of position range
2011-01-04T11:43:16.694644, robot-cmo, cmo_move_arm: commanding arm to (TZW) 58,
2087,14324 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:43:16.694974, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:16.709568, servo, servo - operation 0x0012 on track
2011-01-04T11:43:16.711230, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:16.712830, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=0.378200, end=0.378200, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:43:16.714661, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:16.716786, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:43:16.718559, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:16.720240, servo, srv get_profile_resp: track final pos=62 tach
s (57 mils, 0.378200 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:43:16.734205, servo, servo - operation 0x0012 on z
2011-01-04T11:43:16.738446, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:16.741780, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=36.323177, end=28.327806, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:43:16.745243, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:16.746822, service-metrics, track, Time 0.000000:nan:0.000000(M
0
2011-01-04T11:43:30.629622, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:30.631613, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:43:30.653277, servo, servo - operation 0x0012 on wrist
2011-01-04T11:43:30.655160, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:30.656862, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=126.721397, end=126.721397, direction=-1, end_seg=2, lead_on_dec
el=0
2011-01-04T11:43:30.658606, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:30.660605, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:43:30.662231, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:30.663922, servo, srv get_profile_resp: wrist final pos=20774 t
achs (14203 mils, 126.721397 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:43:30.678293, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:43:30.685852, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:30.691003, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:31.119933, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:31.120282, servo, srv get_profile_resp: z final pos=12170 tachs
(2817 mils, 38.233273 rads), distance=235 mils, srv_status=0, result code=0
2011-01-04T11:43:31.129068, service-metrics, z, Time 0.000240:0.000374:0.000531(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:43:31.132612, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:31.134977, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 56,2816,14203 (mils)
2011-01-04T11:43:32.943491, robot-cmo, cmo_move_arm: commanding arm to (TZW) 58,
2543,14204 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:43:32.944881, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:32.959534, servo, servo - operation 0x0012 on track
2011-01-04T11:43:32.961249, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:32.961719, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=0.372100, end=0.378200, direction=1, end_seg=2, lead_on_decel=0
2011-01-04T11:43:32.963336, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:32.966649, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:43:32.968375, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:32.968929, servo, srv get_profile_resp: track final pos=61 tach
s (56 mils, 0.372100 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:43:32.979804, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:43:32.992328, servo, servo - operation 0x0012 on z
2011-01-04T11:43:32.995727, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:32.997570, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=38.233273, end=34.516758, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:43:32.999245, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:33.001325, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:43:33.023061, servo, servo - operation 0x0012 on wrist
2011-01-04T11:43:33.026257, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:33.026636, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=126.721397, end=126.721397, direction=-1, end_seg=2, lead_on_dec
el=0
2011-01-04T11:43:33.028371, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:33.030246, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:43:33.031988, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:33.033711, servo, srv get_profile_resp: wrist final pos=20774 t
achs (14203 mils, 126.721397 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:43:33.047988, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:43:33.055579, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:33.060680, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:33.502277, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:33.502665, servo, srv get_profile_resp: z final pos=10952 tachs
(2535 mils, 34.406803 rads), distance=282 mils, srv_status=0, result code=0
2011-01-04T11:43:33.511288, service-metrics, z, Time 0.000241:0.000378:0.000521(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:43:33.514894, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:33.518314, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 57,2534,14203 (mils)
2011-01-04T11:43:35.323971, robot-cmo, cmo_move_arm: commanding arm to (TZW) 58,
2879,14204 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:43:35.325357, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:35.340011, servo, servo - operation 0x0012 on track
2011-01-04T11:43:35.341722, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:35.342096, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=0.378200, end=0.378200, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:43:35.343667, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:35.345793, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:43:35.347595, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:35.349298, servo, srv get_profile_resp: track final pos=62 tach
s (57 mils, 0.378200 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:43:35.360174, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:43:35.372733, servo, servo - operation 0x0012 on z
2011-01-04T11:43:35.375993, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:35.377812, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=34.406803, end=39.078362, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:43:35.379471, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:35.381536, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:43:35.403425, servo, servo - operation 0x0012 on wrist
2011-01-04T11:43:35.405316, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:35.407017, servo, srv_mech_build_prof_request(): profile type=2
2011-01-04T11:43:56.436033,
t:
2011-01-04T11:43:56.463649,
t:
2011-01-04T11:43:56.492480,
t:
2011-01-04T11:43:56.522575,
t:
2011-01-04T11:43:56.551718,
t:
2011-01-04T11:43:56.580800,
t:
2011-01-04T11:43:56.610993,
t:
2011-01-04T11:43:56.640047,
t:
2011-01-04T11:43:56.669138,
t:
2011-01-04T11:43:56.699326,
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-config, Element map description:
2011-01-04T11:43:56.741135, ifm,
dataValid = 0
hostStartAddrs.cell = 0
hostStartAddrs.drive = 0
hostStartAddrs.cap = 0
hostStartAddrs.ptp = 269634556
hostStartAddrs.hand = 0
hostStartAddrs.reserved = 2139092584
2011-01-04T11:43:56.742509, ifm, initReadScsiStartAddrs() - Place 3
2011-01-04T11:43:56.742821, ifm,
dataValid = 0
hostStartAddrs.cell = 0
hostStartAddrs.drive = 0
hostStartAddrs.cap = 0
hostStartAddrs.ptp = 269634556
hostStartAddrs.hand = 0
hostStartAddrs.reserved = 2139092584
2011-01-04T11:43:56.746440, ifm, initReadScsiStartAddrs() - Place 4
2011-01-04T11:43:56.746778, ifm,
dataValid = 0
hostStartAddrs.cell = 1000
hostStartAddrs.drive = 500
hostStartAddrs.cap = 10
hostStartAddrs.ptp = 269634556
hostStartAddrs.hand = 0
hostStartAddrs.reserved = 2139092584
2011-01-04T11:43:56.755420, ifm, Read the Cap file information
2011-01-04T11:43:56.757143, ifm, Ifm Get Cap Config from CAP file.
2011-01-04T11:43:56.786059, robot, DIRECTOR - sending CAP response
2011-01-04T11:43:56.788083, ifm, Module for cap info 1, 2, 3, 4, 5, 6
2011-01-04T11:43:56.803754, ifm, Cap info.installed: 1, 0, 0, 0, 0, 0
2011-01-04T11:43:56.823710, ifm, Cap info.use as cap: 1, 0, 0, 0, 0, 0
2011-01-04T11:43:56.843506, ifm, Initialize the cell data base
2011-01-04T11:43:56.860350, ifm, getKeyedModuleNumber() - LicenseEnabled: 1, Anc
estoryKeySet: 1
2011-01-04T11:43:56.867490, ifm, getKeyedModuleNumber() cell count prep: cell_ac
cum=50, mod_cell_accum=50, module_cell_count=50
2011-01-04T11:43:56.868888, ifm, getKeyedModuleNumber() cell count prep: cell_ac
cum=50, mod_cell_accum=50, module_cell_count=0
2011-01-04T11:43:56.869158, ifm, getKeyedModuleNumber() cell count prep: cell_ac
cum=50, mod_cell_accum=50, module_cell_count=0
2011-01-04T11:43:56.870536, ifm, getKeyedModuleNumber() cell count prep: cell_ac
cum=50, mod_cell_accum=50, module_cell_count=0
2011-01-04T11:43:56.870838, ifm, getKeyedModuleNumber() cell count prep: cell_ac
cum=50, mod_cell_accum=50, module_cell_count=0
2011-01-04T11:43:56.871100, ifm, getKeyedModuleNumber() cell count prep: cell_ac
cum=50, mod_cell_accum=50, module_cell_count=0
2011-01-04T11:43:56.898201, ifm, Using Licenses for Capacity and Partitioning
2011-01-04T11:43:57.026023, Config-License, The following Licenses are stored:
2011-01-04T11:43:57.050940, Config-License, SL500_license_config_99001.lsf, file
date=2009-11-24 13:25
2011-01-04T11:43:57.082122, Config-License, Processing legacy licenses
2011-01-04T11:43:57.132682, Config-License, License checking - LimitedBase exist
s: 99001
2011-01-04T11:43:57.180843, Config-License, License Sequence:99001 with Feature
name:Capacity value:LimitedBase assigned to module:1
2011-01-04T11:43:57.224497, ifm, License Assignment stopped, with module 1 havin
g a partial license
2011-01-04T11:43:57.225866, ifm, Restricted adjustment checking: Restriction=30,
full capacity=50
2011-01-04T11:43:57.228160, ifm, Init: Licenses enabled 1 module(s) with restric
ted setting:30
2011-01-04T11:43:58.869074, ifm, Adjusted element map (1 based) with cfg, & rest
rictions: max_cell=30, reserved=1
2011-01-04T11:43:58.870454, ifm, Physical modules=1, key enabled modules=1
2011-01-04T11:43:58.962952, ifm, module 1, column 1, storage cells 6
2011-01-04T11:43:58.964337, ifm, module 1, column 1, reserved cells 1
2011-01-04T11:43:58.964716, ifm, module 1, column 2, storage cells 7
2011-01-04T11:43:58.966142, ifm, module 1, column 3, storage cells 7
2011-01-04T11:43:58.966465, ifm, module 1, column 4, storage cells 7
2011-01-04T11:43:58.967830, ifm, module 1, column 5, storage cells 3
2011-01-04T11:43:58.968188, ifm, module 1, column 8, cap cells 5
2011-01-04T11:43:58.968490, ifm, module 1, column 9, drives bit map 3
2011-01-04T11:43:58.975412, ifm, InitModifyElemMap(): Updating CAP attributes: c
onfigured_cap==1 first_cap_module_num==1
2011-01-04T11:43:58.986248, ifm, rebuildProcFileSystemModules: Physical represen
tation
2011-01-04T11:43:59.089072, sensor-manager, SensorMgr - STARTED
2011-01-04T11:43:59.091041, ifm, IfmInitThread(): initializing CellDb.
2011-01-04T11:43:59.098069, CommonUtils, PartitionInterface::readPartitionRanges
- No partition range file for currently in use values.
2011-01-04T11:43:59.099601, ifm, readPartitionInfo for current partition info. r
anges = 0
2011-01-04T11:43:59.104962, CommonUtils, PartitionInterface:: partitioning is no
t allowed on this library.
2011-01-04T11:43:59.117919, ifm, CellDbUser::adding drive: 500 at (LMRC) 0,1,1,9
slot 1
2011-01-04T11:43:59.119824, ifm, InitModifyElemMap: set ods drive address for dr
ive (LMRC) 0,1,1,9
2011-01-04T11:43:59.121444, ifm, CellDbUser::adding drive: 501 at (LMRC) 0,1,2,9
slot 2
2011-01-04T11:43:59.123274, ifm, InitModifyElemMap: set ods drive address for dr
ive (LMRC) 0,1,2,9
2011-01-04T11:43:59.130251, ifm, Partition no partition active!!!
2011-01-04T11:43:59.134185, ifm, Drive slot bit mask->0x3
2011-01-04T11:43:59.141546, CommonUtils, PartitionInterface:: partitioning is no
t allowed on this library.
2011-01-04T11:43:59.143060, ifm, Partition not allowed at init.
2011-01-04T11:43:59.166507, ifm, initHost()
2011-01-04T11:43:59.168448, ifm, initHost() - getting vendor
2011-01-04T11:43:59.169862, ifm, initHost() - checking for HP
2011-01-04T11:43:59.170135, ifm, initHost() - STK Library
2011-01-04T11:43:59.174098, ifm, initHost(): sending host init command.
2011-01-04T11:43:59.181353, host, HostInit::executeCommand(): Got the command
2011-01-04T11:43:59.211812, host, HostInit::executeCommand(): sending response
2011-01-04T11:43:59.227838, ifm, Check the configuration:
2011-01-04T11:43:59.231401, ifm, /proc/fpga/system_module/01/spare_in reads ff,
card number is f
2011-01-04T11:43:59.233484, ifm, Audit option set to 2
2011-01-04T11:43:59.242139, ifm, Reporting scanAudit option disabled for LTO mod
ule.
2011-01-04T11:43:59.242553, ifm, Prepare message for mod 1, col 1
2011-01-04T11:43:59.247624, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:43:59.249544, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:43:59.251185, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:43:59.253148, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:43:59.255108, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:43:59.260237, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:43:59.262184, robot, srv_user_hand_cart_state: cart present sensor
=0
2011-01-04T11:43:59.264135, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:59.265651, robot, cmo_eval_op_state_precheck: cmo_status=0, ope
ration=2, code=0, operationalState=0
2011-01-04T11:43:59.267201, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:43:59.267658, robot, srv_user_hand_cart_state: cart present sensor
=0
2011-01-04T11:43:59.269215, robot-config, cfg_user_get_target_cartesian: Nominal
Target Cartesian Requested for address: (LMRC) 0,1,1,1
2011-01-04T11:43:59.269505, robot-config, Cfg_map_config_class::get_column (priv
ate): NON
adjusted track_mil_offset = 198
2011-01-04T11:43:59.270981, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:43:59.271442, robot-config, cfg_user_get_target_cartesian: Calibra
ted Target Cartesian Requested for address: (LMRC) 0,1,1,1
2011-01-04T11:43:59.276656, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: START, addr= (LMRC) 0,1,1,1
2011-01-04T11:43:59.278018, robot-config, Cfg_map_config_class::get_column (priv
ate): NON
adjusted track_mil_offset = 198
2011-01-04T11:43:59.278328, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position nom positions top:bot(TZW)=198,3325,213:0,0,0
2011-01-04T11:43:59.279916, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:43:59.280236, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: Targets Not Calibrated
2011-01-04T11:43:59.280480, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: END, final positions top:bot(TZW)=198,3325,213:0,0,0 (mils
)
2011-01-04T11:43:59.281870, robot-cfg-calib, cfg_calib_user_get_target_cal_posit
ion(): location Not Calibrated for handEmpty, using handFull if available
2011-01-04T11:43:59.282201, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: START, addr= (LMRC) 0,1,1,1
2011-01-04T11:43:59.283707, robot-config, Cfg_map_config_class::get_column (priv
ate): NON
adjusted track_mil_offset = 198
2011-01-04T11:43:59.283993, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position nom positions top:bot(TZW)=198,3325,213:0,0,0
2011-01-04T11:43:59.285537, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:43:59.290903, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: Targets Not Calibrated
2011-01-04T11:43:59.291171, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: END, final positions top:bot(TZW)=198,3325,213:0,0,0 (mils
)
2011-01-04T11:43:59.292524, robot-config, cfg_user_get_target_cartesian: Target
is NOT Calibrated, using Library Cal (Endstop's Target Offsets, if set)
2011-01-04T11:43:59.292851, robot-cfg-calib, Cfg_calib_library_cal_class::get: R
ight Half, Cal'd=1, offsets (TZW)=0,0,-60 (mils)
2011-01-04T11:43:59.296148, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:43:59.298194, robot-cmo, cmo_move_arm: commanding arm to (TZW) 198
tSTAddr[0] = 0x3
firstSTAddr[1] = 0xe8
numSTElements = 0x1e
firstIE
Addr[0] = 0
firstIEAddr[1] = 0xa
numIEElements = 0x5
firstDTAddr[0]
= 0x1
firstDTAddr[1] = 0xf4
numDTElements = 0x2
2011-01-04T11:43:59.945489, scsi-server, SmcUser::SmcUser(lunP) - Done
2011-01-04T11:43:59.956272, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:59.956621, servo, srv get_profile_resp: track final pos=2155 ta
chs (1990 mils, 13.145500 rads), distance=1933 mils, srv_status=0, result code=0
2011-01-04T11:43:59.965498, service-metrics, track, Time 0.000282:0.000441:0.000
558(Min:Avg:Max secs), MSI's=0
2011-01-04T11:43:59.969043, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:59.981631, servo, servo - operation 0x0012 on z
2011-01-04T11:43:59.983470, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:59.985030, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=32.437019, end=45.185631, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:43:59.985514, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:59.987207, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:44:00.012708, servo, servo - operation 0x0012 on wrist
2011-01-04T11:44:00.015897, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:00.017639, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=126.715294, end=1.360300, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:44:00.018109, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:00.021357, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:44:00.194592, scsi-engine, ScsiLun::ScsiLun(2) - 0x101e3d30
2011-01-04T11:44:00.217867, scsi-server, LibifSL500DeviceServer::LibifSL500Devic
eServer(deviceServerP)
2011-01-04T11:44:00.232497, scsi-server, SmcUser::SmcUser(lunP)
2011-01-04T11:44:00.236238, scsi-server, SmcUser::initModePages()
2011-01-04T11:44:00.355325, scsi-server, SmcUser::initModePages() - current valu
es:
firstMTAddr[0] = 0
firstMTAddr[1] = 0
numMTElements = 0x1
firs
tSTAddr[0] = 0x3
firstSTAddr[1] = 0xe8
numSTElements = 0
firstIEAdd
r[0] = 0
firstIEAddr[1] = 0xa
numIEElements = 0
firstDTAddr[0] = 0x
1
firstDTAddr[1] = 0xf4
numDTElements = 0
2011-01-04T11:44:00.358647, scsi-server, SmcUser::SmcUser(lunP) - Done
2011-01-04T11:44:00.364278, scsi-engine, ScsiLun::ScsiLun(3) - 0x101e3da0
2011-01-04T11:44:00.387798, scsi-server, LibifSL500DeviceServer::LibifSL500Devic
eServer(deviceServerP)
2011-01-04T11:44:00.403822, scsi-server, SmcUser::SmcUser(lunP)
2011-01-04T11:44:00.407640, scsi-server, SmcUser::initModePages()
2011-01-04T11:44:00.697614, scsi-server, SmcUser::initModePages() - current valu
es:
firstMTAddr[0] = 0
firstMTAddr[1] = 0
numMTElements = 0x1
firs
tSTAddr[0] = 0x3
firstSTAddr[1] = 0xe8
numSTElements = 0
firstIEAdd
r[0] = 0
firstIEAddr[1] = 0xa
numIEElements = 0
firstDTAddr[0] = 0x
1
firstDTAddr[1] = 0xf4
numDTElements = 0
2011-01-04T11:44:00.699467, scsi-server, SmcUser::SmcUser(lunP) - Done
2011-01-04T11:44:00.703412, scsi-engine, ScsiLun::ScsiLun(4) - 0x101e3e10
2011-01-04T11:44:00.719372, scsi-server, LibifSL500DeviceServer::LibifSL500Devic
eServer(deviceServerP)
2011-01-04T11:44:00.771560, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:00.771909, servo, srv get_profile_resp: z final pos=14331 tachs
1
firstDTAddr[1] = 0xf4
numDTElements = 0
2011-01-04T11:44:01.366681, scsi-server, SmcUser::SmcUser(lunP) - Done
2011-01-04T11:44:01.370537, scsi-engine, ScsiDevice::modifyLuns(numValidLuns = 1
, validLuns = 0x7ffff6f8) 0x101e4a08 - validLuns[0] = 0
2011-01-04T11:44:01.372241, scsi-engine, ScsiDevice::modifyLuns() - _luns[0] = 0
x101e3cc0
2011-01-04T11:44:01.384738, scsi-server, LibifSL500DeviceServer::LibifSL500Devic
eServer(deviceServerP)
2011-01-04T11:44:01.394037, scsi-server, SmcUser::SmcUser(lunP)
2011-01-04T11:44:01.397401, scsi-server, SmcUser::initModePages()
2011-01-04T11:44:01.478614, scsi-server, SmcUser::initModePages() - current valu
es:
firstMTAddr[0] = 0
firstMTAddr[1] = 0
numMTElements = 0x1
firs
tSTAddr[0] = 0x3
firstSTAddr[1] = 0xe8
numSTElements = 0x1e
firstIE
Addr[0] = 0
firstIEAddr[1] = 0xa
numIEElements = 0x5
firstDTAddr[0]
= 0x1
firstDTAddr[1] = 0xf4
numDTElements = 0x2
2011-01-04T11:44:01.480298, scsi-server, SmcUser::SmcUser(lunP) - Done
2011-01-04T11:44:01.514488, scsi-engine, ScsiDevice::startPorts() 0x101e4a08
2011-01-04T11:44:01.795610, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:01.795962, servo, srv get_profile_resp: wrist final pos=258 tac
hs (176 mils, 1.573800 rads), distance=14026 mils, srv_status=0, result code=0
2011-01-04T11:44:01.804682, service-metrics, wrist, Time 0.000241:0.000418:0.000
717(Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:01.807102, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:01.819265, servo, servo - operation 0x0012 on track
2011-01-04T11:44:01.820925, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:01.821393, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=13.279699, end=1.305400, direction=-1, end_seg=2, lead_on_decel=
0
2011-01-04T11:44:01.823030, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:01.824937, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:44:02.394419, scsi-engine, ScsiPort::activate() - ok through confi
gure
2011-01-04T11:44:02.399954, scsi-engine, ScsiDevice::startPorts() 0x101e4a08 - /
dev/scsi_tgt0 activate status = 6
2011-01-04T11:44:02.401486, scsi-engine, ScsiDevice::startPorts() 0x101e4a08 - /
dev/scsi_tgt0 PRESENT
2011-01-04T11:44:02.401980, scsi-engine, ScsiDevice::startPorts() 0x101e4a08 - D
one, numPorts = 1
2011-01-04T11:44:02.426959, host, HostInit::executeCommand(): Exiting command
2011-01-04T11:44:02.437718, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:02.438067, servo, srv get_profile_resp: track final pos=226 tac
hs (209 mils, 1.378600 rads), distance=1802 mils, srv_status=0, result code=0
2011-01-04T11:44:02.446894, service-metrics, track, Time 0.000301:0.000440:0.000
558(Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:02.450382, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:02.455576, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 209,3316,158 (mils)
2011-01-04T11:44:02.457822, sys, sys_cpuinfo_get_cpu_clock: sys_cpuinfo_clock_fr
eq=198000000Hz
2011-01-04T11:44:02.658037, robot, scanUserTarget: Returning target bars=11, ret
urnVal=0, code=0, targetReadTime=0.198384
2011-01-04T11:44:02.847462, robot, scanUserTarget: Returning target bars=11, ret
urnVal=6, code=5416, targetReadTime=0.168100
ffffff
2011-01-04T11:44:04.416546, scsi-engine, ScsiValidTask::startCommandComplete() 0
x101eb7a8 - status = 0
2011-01-04T11:44:04.441344, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:04.454330, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:04.459574, scsi-engine, Task received 0x101e2c80: cdb = 0x12
0 0 0 0x24 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0x2 0x150100 0-0 0/100000
00c953a7ef p=0
2011-01-04T11:44:04.463155, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x101e2c80
2011-01-04T11:44:04.465145, scsi-server, SmcInquiry::initializeData()
2011-01-04T11:44:04.484746, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:04.493987, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:04.522487, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:04.529466, scsi-engine, Task received 0x10205950: cdb = 0xa0
0 0 0 0 0 0 0 0 0x10 0 0 0 0 0 0/ nexus = 0x5 0x150100 0-0 0/500110
a00018c1fa p=0
2011-01-04T11:44:04.538856, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10205950
2011-01-04T11:44:04.551867, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:04.562269, robot, scanUserTarget: Returning target bars=11, ret
urnVal=0, code=0, targetReadTime=0.187411
2011-01-04T11:44:04.591084, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:04.616286, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:04.621611, scsi-engine, Task received 0x10205b00: cdb = 0xa0
0 0 0 0 0 0 0 0 0x10 0 0 0 0 0 0/ nexus = 0x6 0x150100 0-0 0/500143
8001339df2 p=0
2011-01-04T11:44:04.630762, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10205b00
2011-01-04T11:44:04.648739, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:04.658071, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:04.672126, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:04.677457, scsi-engine, Task received 0x10205d18: cdb = 0xa0
0 0 0 0 0 0 0 0 0x10 0 0 0 0 0 0/ nexus = 0x7 0x150100 0-0 0/500143
8001339e1a p=0
2011-01-04T11:44:04.686732, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10205d18
2011-01-04T11:44:04.697432, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:04.721240, scsi-engine, ScsiValidTask::startCommandComplete() 0
x10205500 - status = 0
2011-01-04T11:44:04.728378, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:04.745951, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:04.750157, scsi-engine, Task received 0x10205f30: cdb = 0xa0
0 0 0 0 0 0 0 0 0x10 0 0 0 0 0 0/ nexus = 0x8 0x150100 0-0 0/210000
e08b9cddb9 p=0
2011-01-04T11:44:04.764299, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10205f30
2011-01-04T11:44:04.774858, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:04.791464, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:04.804339, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:04.809629, scsi-engine, Task received 0x101eb7a8: cdb = 0x12
0 0 0 0x24 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0x3 0x150100 0-0 0/100000
00c953a814 p=0
2011-01-04T11:44:04.813127, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x101eb7a8
2011-01-04T11:44:04.815018, scsi-server, SmcInquiry::initializeData()
2011-01-04T11:44:04.834708, robot, scanUserTarget: Returning target bars=11, ret
urnVal=0, code=0, targetReadTime=0.254225
2011-01-04T11:44:04.861872, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:04.888850, scsi-engine, ScsiValidTask::startCommandComplete() 0
x101e2c80 - status = 0
2011-01-04T11:44:04.896080, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:04.910184, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:04.915494, scsi-engine, Task received 0x10206398: cdb = 0xa0
0 0 0 0 0 0 0 0 0x10 0 0 0 0 0 0/ nexus = 0x9 0x150100 0-0 0/100000
00c935ce63 p=0
2011-01-04T11:44:04.932256, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10206398
2011-01-04T11:44:04.944358, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:04.955502, scsi-engine, ScsiValidTask::startCommandComplete() 0
x10205950 - status = 0
2011-01-04T11:44:04.962782, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:04.977023, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:04.998388, scsi-engine, Task received 0x10207da0: cdb = 0xa0
0 0 0 0 0 0 0 0 0x10 0 0 0 0 0 0/ nexus = 0x1 0x150100 0-0 0/100000
00c9520fe1 p=0
2011-01-04T11:44:05.007650, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10207da0
2011-01-04T11:44:05.018374, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:05.033215, scsi-engine, ScsiValidTask::startCommandComplete() 0
x10205b00 - status = 0
2011-01-04T11:44:05.047566, robot, scanUserTarget: Returning target bars=9, retu
rnVal=0, code=0, targetReadTime=0.192968
2011-01-04T11:44:05.066896, robot-cmo, cmo_move_arm: commanding arm to (TZW) 198
,3279,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:44:05.067464, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:05.083532, servo, servo - operation 0x0012 on track
2011-01-04T11:44:05.085236, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:05.086817, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=1.299300, end=1.305400, direction=1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:05.087252, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:05.088866, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:44:05.090579, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:05.090915, servo, srv get_profile_resp: track final pos=213 tac
hs (197 mils, 1.299300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:05.101763, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:05.112624, servo, servo - operation 0x0012 on z
2011-01-04T11:44:05.123529, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:05.128291, servo, srv_mech_build_prof_request(): profile type=2
ED
2011-01-04T11:44:08.051862, scsi-engine, Task received 0x10208190: cdb = 0x12
0 0 0 0x44 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0xa 0x150100 0-0 0/100000
00c95c0b22 p=0
2011-01-04T11:44:08.057397, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10208190
2011-01-04T11:44:08.060847, scsi-server, SmcInquiry::initializeData()
2011-01-04T11:44:08.091862, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:08.120780, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:08.140361, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:08.147588, scsi-engine, Task received 0x10206398: cdb = 0x12 0
x1 0 0 0xff 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0x5 0x150100 0-0 0/50011
0a00018c1fa p=0
2011-01-04T11:44:08.165424, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10206398
2011-01-04T11:44:08.167659, scsi-server, SmcInquiry::initializeData()
2011-01-04T11:44:08.199964, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:08.225143, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:08.239218, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:08.243415, scsi-engine, Task received 0x10205f30: cdb = 0x12 0
x1 0 0 0xff 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0x8 0x150100 0-0 0/21000
0e08b9cddb9 p=0
2011-01-04T11:44:08.248311, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10205f30
2011-01-04T11:44:08.250370, scsi-server, SmcInquiry::initializeData()
2011-01-04T11:44:08.273589, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:08.293698, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:08.307819, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:08.313095, scsi-engine, Task received 0x101eb8a0: cdb = 0x12 0
x1 0x83 0 0xff 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0x1 0x150100 0-0 0/100
00000c9520fe1 p=0
2011-01-04T11:44:08.316961, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x101eb8a0
2011-01-04T11:44:08.319025, scsi-server, SmcInquiry::initializeData()
2011-01-04T11:44:08.345636, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:08.365768, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:08.370871, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:08.371222, servo, srv get_profile_resp: z final pos=13906 tachs
(3218 mils, 43.687088 rads), distance=198 mils, srv_status=0, result code=0
2011-01-04T11:44:08.379943, service-metrics, z, Time 0.000245:0.000374:0.000518(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:08.383539, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:08.385879, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 198,3218,152 (mils)
2011-01-04T11:44:08.416502, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:08.421501, scsi-engine, Task received 0x10207da0: cdb = 0x12 0
x1 0 0 0xff 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0x6 0x150100 0-0 0/50014
38001339df2 p=0
2011-01-04T11:44:08.425119, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10207da0
2011-01-04T11:44:09.624603,
, reach safe sensor=1
2011-01-04T11:44:09.628232,
, reach safe sensor=1
2011-01-04T11:44:09.657064,
2011-01-04T11:44:09.675288,
ED
2011-01-04T11:44:09.682360,
x1 0x80 0 0xff 0 0 0 0
110a00018c1fa p=0
2011-01-04T11:44:09.687886,
ask = 0x10205f30
2011-01-04T11:44:09.691373,
2011-01-04T11:44:09.718585,
4?
scsi-engine, ScsiTask::setStatusAndSense()errCode =
scsi-engine, ScsiTask::create():lun = 0
scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
scsi-engine, Task received 0x10205d18: cdb = 0x12 0
0 0 0 0 0 0 0/ nexus = 0x8 0x150100 0-0 0/210
scsi-server, SmcUser::executeCommand() - executing t
scsi-server, SmcInquiry::initializeData()
scsi-engine, Copied root serial number = 55900010120
scsi-engine, stringStreamSize = 1
scsi-engine, Modified serial number = 559000101204
scsi-engine, ScsiTask::setStatusAndSense()errCode =
scsi-engine, ScsiTask::create():lun = 0
scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
scsi-engine, Task received 0x10206398: cdb = 0x12 0
0 0 0 0 0 0 0/ nexus = 0x6 0x150100 0-0 0/500
scsi-server, SmcUser::executeCommand() - executing t
scsi-server, SmcInquiry::initializeData()
scsi-engine, Copied root serial number = 55900010120
scsi-engine, stringStreamSize = 1
scsi-engine, Modified serial number = 559000101204
scsi-engine, ScsiTask::setStatusAndSense()errCode =
scsi-engine, ScsiValidTask::startCommandComplete() 0
scsi-engine, ScsiValidTask::startCommandComplete() 0
scsi-engine, ScsiValidTask::startCommandComplete() 0
scsi-engine, ScsiTask::create():lun = 0
scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
000e08b9cddb9 p=0
2011-01-04T11:44:12.544144, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10205d18
2011-01-04T11:44:12.546208, scsi-server, SmcInquiry::initializeData()
2011-01-04T11:44:12.580566, scsi-engine, Copied root serial number = 55900010120
4
2011-01-04T11:44:12.582371, scsi-engine, stringStreamSize = 1
2011-01-04T11:44:12.584003, scsi-engine, Modified serial number = 559000101204
2011-01-04T11:44:12.589484, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:12.613009, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:12.630623, robot, scanUserTarget: Returning target bars=9, retu
rnVal=0, code=0, targetReadTime=0.189318
2011-01-04T11:44:12.653991, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:12.659221, scsi-engine, Task received 0x10207e98: cdb = 0x12 0
x1 0x80 0 0xff 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0x6 0x150100 0-0 0/500
1438001339df2 p=0
2011-01-04T11:44:12.663123, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10207e98
2011-01-04T11:44:12.677466, scsi-server, SmcInquiry::initializeData()
2011-01-04T11:44:12.697424, scsi-engine, Copied root serial number = 55900010120
4
2011-01-04T11:44:12.699162, scsi-engine, stringStreamSize = 1
2011-01-04T11:44:12.699467, scsi-engine, Modified serial number = 559000101204
2011-01-04T11:44:12.706180, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:12.730129, scsi-engine, ScsiTask::create():lun = 2
2011-01-04T11:44:12.737188, scsi-engine, ScsiDevice::getLun() - using bad lun
2011-01-04T11:44:12.742827, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:12.744436, scsi-engine, ScsiTask::create():virtual lun NOT VALI
D= 2
2011-01-04T11:44:12.749604, scsi-engine, Task received 0x101e2c80: cdb = 0x12 0
x40 0 0 0x24 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0x9 0x150100 2-2 0/1000
0000c935ce63 p=0
2011-01-04T11:44:12.753402, scsi-engine, ScsiBadLunTask::execute()
2011-01-04T11:44:12.755009, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x101e2c80
2011-01-04T11:44:12.756981, scsi-server, SmcInquiry::initializeData()
2011-01-04T11:44:12.805566, scsi-engine, ScsiValidTask::startCommandComplete() 0
x10205f30 - status = 0
2011-01-04T11:44:12.818161, scsi-engine, ScsiValidTask::startCommandComplete() 0
x101eb8a0 - status = 0
2011-01-04T11:44:12.828737, robot, scanUserTarget: Returning target bars=7, retu
rnVal=0, code=0, targetReadTime=0.182298
2011-01-04T11:44:12.854682, scsi-engine, ScsiTask::create():lun = 4
2011-01-04T11:44:12.875719, scsi-engine, ScsiDevice::getLun() - using bad lun
2011-01-04T11:44:12.881303, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:12.882870, scsi-engine, ScsiTask::create():virtual lun NOT VALI
D= 4
2011-01-04T11:44:12.886999, scsi-engine, Task received 0x102055f8: cdb = 0x12 0
x80 0 0 0x24 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0x4 0x150100 4-4 0/1000
0000c935cdb3 p=0
2011-01-04T11:44:12.890745, scsi-engine, ScsiBadLunTask::execute()
2011-01-04T11:44:12.892371, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x102055f8
2011-01-04T11:44:12.894373, scsi-server, SmcInquiry::initializeData()
2011-01-04T11:44:12.937571, scsi-engine, ScsiValidTask::startCommandComplete() 0
x10205d18 - status = 0
2011-01-04T11:44:12.947851, scsi-engine, ScsiValidTask::startCommandComplete() 0
x10207e98 - status = 0
2011-01-04T11:44:12.955530, scsi-engine, ScsiBadLunTask::startCommandComplete()
0x101e2c80 - status = 0
2011-01-04T11:44:12.996545, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:13.013254, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:13.018500, scsi-engine, Task received 0x10205f30: cdb = 0x12 0
x1 0x80 0 0xff 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0x7 0x150100 0-0 0/500
1438001339e1a p=0
2011-01-04T11:44:13.029256, robot, scanUserTarget: Returning target bars=4, retu
rnVal=0, code=0, targetReadTime=0.189232
2011-01-04T11:44:13.022348, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10205f30
2011-01-04T11:44:13.047553, scsi-server, SmcInquiry::initializeData()
2011-01-04T11:44:13.081660, scsi-engine, Copied root serial number = 55900010120
4
2011-01-04T11:44:13.083534, scsi-engine, stringStreamSize = 1
2011-01-04T11:44:13.085085, scsi-engine, Modified serial number = 559000101204
2011-01-04T11:44:13.090613, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:13.103220, scsi-engine, ScsiBadLunTask::startCommandComplete()
0x102055f8 - status = 0
2011-01-04T11:44:13.144425, scsi-engine, ScsiTask::create():lun = 3
2011-01-04T11:44:13.150319, scsi-engine, ScsiDevice::getLun() - using bad lun
2011-01-04T11:44:13.156972, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:13.157449, scsi-engine, ScsiTask::create():virtual lun NOT VALI
D= 3
2011-01-04T11:44:13.177098, scsi-engine, Task received 0x10207e98: cdb = 0x12 0
x60 0 0 0x24 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0x9 0x150100 3-3 0/1000
0000c935ce63 p=0
2011-01-04T11:44:13.180691, scsi-engine, ScsiBadLunTask::execute()
2011-01-04T11:44:13.180958, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10207e98
2011-01-04T11:44:13.182870, scsi-server, SmcInquiry::initializeData()
2011-01-04T11:44:13.229646, robot, scanUserTarget: Returning target bars=4, retu
rnVal=0, code=0, targetReadTime=0.189650
2011-01-04T11:44:13.240537, robot-cmo, cmo_move_arm: commanding arm to (TZW) 198
,3529,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:44:13.242171, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:13.258173, servo, servo - operation 0x0012 on track
2011-01-04T11:44:13.259884, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:13.260259, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=1.305400, end=1.305400, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:13.261723, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:13.263590, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:44:13.263967, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:13.265477, servo, srv get_profile_resp: track final pos=214 tac
hs (198 mils, 1.305400 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:13.276305, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:13.290591, servo, servo - operation 0x0012 on z
2011-01-04T11:44:13.292303, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:13.292822, servo, srv_mech_build_prof_request(): profile type=2
RC) 0,1,1,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:18.127413, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,1,1 -> top TZW=93,-217,-61, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:18.129065, robot, cmo_eval_op_state START: cmo_status=0, operat
ion=3, code=0, operationalState=0
2011-01-04T11:44:18.129547, robot, cmo_eval_op_state checking to see if cart pre
sent will be over-ridden by grip position
2011-01-04T11:44:18.131124, robot, cmo_eval_op_state sensor read - Reach Safe:1,
Cartridge Present:0
2011-01-04T11:44:18.132847, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:18.133180, robot, cmo_eval_op_state END: cmo_status=0, operatio
n=3, code=0, operationalState=0
2011-01-04T11:44:18.134698, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,2,1 -> calibrated=1, retarget=0, top TZW=36,-278,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:44:18.136325, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,3,1 -> calibrated=1, retarget=0, top TZW=36,-278,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:44:18.136812, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:18.138253, robot, srv_user_hand_cart_state: cart present sensor
=0
2011-01-04T11:44:18.138589, robot-config, cfg_user_get_target_cartesian: Nominal
Target Cartesian Requested for address: (LMRC) 0,1,4,1
2011-01-04T11:44:18.140038, robot-config, Cfg_map_config_class::get_column (priv
ate): NON
adjusted track_mil_offset = 198
2011-01-04T11:44:18.140385, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:44:18.141819, robot-config, cfg_user_get_target_cartesian: Calibra
ted Target Cartesian Requested for address: (LMRC) 0,1,4,1
2011-01-04T11:44:18.142141, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: START, addr= (LMRC) 0,1,4,1
2011-01-04T11:44:18.143657, robot-config, Cfg_map_config_class::get_column (priv
ate): NON
adjusted track_mil_offset = 198
2011-01-04T11:44:18.147651, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position nom positions top:bot(TZW)=198,8880,213:0,0,0
2011-01-04T11:44:18.149175, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:18.150588, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: Targets Not Calibrated
2011-01-04T11:44:18.150869, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: END, final positions top:bot(TZW)=198,8880,213:0,0,0 (mils
)
2011-01-04T11:44:18.151135, robot-cfg-calib, cfg_calib_user_get_target_cal_posit
ion(): location Not Calibrated for handEmpty, using handFull if available
2011-01-04T11:44:18.152536, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: START, addr= (LMRC) 0,1,4,1
2011-01-04T11:44:18.152885, robot-config, Cfg_map_config_class::get_column (priv
ate): NON
adjusted track_mil_offset = 198
2011-01-04T11:44:18.156357, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position nom positions top:bot(TZW)=198,8880,213:0,0,0
2011-01-04T11:44:18.158308, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:18.159677, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: Targets Not Calibrated
2011-01-04T11:44:18.159940, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: END, final positions top:bot(TZW)=198,8880,213:0,0,0 (mils
)
2011-01-04T11:44:18.160209, robot-config, cfg_user_get_target_cartesian: Target
W) 197,8917,152 (mils)
2011-01-04T11:44:21.133880, robot, scanUserTarget: Returning target bars=0, retu
rnVal=6, code=5416, targetReadTime=0.182021
2011-01-04T11:44:21.333911, robot, scanUserTarget: Returning target bars=0, retu
rnVal=6, code=5416, targetReadTime=0.196448
2011-01-04T11:44:21.539485, robot, scanUserTarget: Returning target bars=7, retu
rnVal=0, code=0, targetReadTime=0.201970
2011-01-04T11:44:21.552433, robot-cmo, cmo_move_arm: commanding arm to (TZW) 198
,8834,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:44:21.554108, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:21.570062, servo, servo - operation 0x0012 on track
2011-01-04T11:44:21.571727, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:21.572194, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=1.299300, end=1.305400, direction=1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:21.573855, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:21.575457, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:44:21.577203, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:21.577534, servo, srv get_profile_resp: track final pos=213 tac
hs (197 mils, 1.299300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:21.588152, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:21.600669, servo, servo - operation 0x0012 on z
2011-01-04T11:44:21.602810, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:21.604604, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=121.048988, end=119.908585, direction=-1, end_seg=2, lead_on_dec
el=0
2011-01-04T11:44:21.606373, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:21.608286, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:44:21.622489, servo, servo - operation 0x0012 on wrist
2011-01-04T11:44:21.624470, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:21.626078, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:21.627790, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:21.629746, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:44:21.631403, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:21.631738, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:21.647826, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:21.656717, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:21.660617, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:21.963131, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:21.963479, servo, srv get_profile_resp: z final pos=38134 tachs
(8826 mils, 119.801773 rads), distance=92 mils, srv_status=0, result code=0
2011-01-04T11:44:21.972176, service-metrics, z, Time 0.000241:0.000353:0.000507(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:21.975749, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.169515, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,4,1 -> top TZW=115,-229,-60, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.171309, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.173006, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,4,1 -> top TZW=115,-229,-60, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.174869, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.176521, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,4,1 -> top TZW=115,-229,-60, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.183724, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.184326, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,4,1 -> top TZW=10,14,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.187291, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.187891, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,4,1 -> top TZW=101,-243,-61, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.189731, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.191499, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,4,1 -> top TZW=110,-243,-61, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.193241, robot, cmo_eval_op_state START: cmo_status=0, operat
ion=3, code=0, operationalState=0
2011-01-04T11:44:31.194836, robot, cmo_eval_op_state checking to see if cart pre
sent will be over-ridden by grip position
2011-01-04T11:44:31.196467, robot, cmo_eval_op_state sensor read - Reach Safe:1,
Cartridge Present:0
2011-01-04T11:44:31.198069, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:31.198642, robot, cmo_eval_op_state END: cmo_status=0, operatio
n=3, code=0, operationalState=0
2011-01-04T11:44:31.200436, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,5,1 -> calibrated=1, retarget=0, top TZW=115,-229,-60, bottom TZW=0,0,0
(mils)
2011-01-04T11:44:31.202202, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,6,1 -> calibrated=1, retarget=0, top TZW=115,-229,-60, bottom TZW=0,0,0
(mils)
2011-01-04T11:44:31.204126, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,7,1 -> calibrated=1, retarget=0, top TZW=115,-229,-60, bottom TZW=0,0,0
(mils)
2011-01-04T11:44:31.205808, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:44:31.207699, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,1 -> calibrated=1, retarget=0, top TZW=36,-278,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:44:31.209394, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,1,1, targ offsets (sign co
rrected) top:bot(TZW)=36,-278,-60:0,0,0 (mils)
2011-01-04T11:44:31.211064, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:44:31.212622, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=198,3170,213 cal positions(TZW)=234,2
892,153 (mils)
2011-01-04T11:44:31.221783, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:44:31.387902, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_START_OFFSET_Z, dim_value = -780 (mils)
2011-01-04T11:44:31.409694, robot-cmo, cmo_move_arm: commanding arm to (TZW) 234
132,153 (mils)
2011-01-04T11:44:34.680693, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:44:34.682323, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_START_OFFSET_Z, dim_value = -780 (mils)
2011-01-04T11:44:34.682887, robot-cmo, cmo_move_arm: commanding arm to (TZW) 234
,3356,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:44:34.684545, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:34.700549, servo, servo - operation 0x0012 on track
2011-01-04T11:44:34.702222, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:34.702744, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=1.549400, end=1.543300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:34.704315, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:34.706073, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:44:34.706418, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:34.707987, servo, srv get_profile_resp: track final pos=254 tac
hs (235 mils, 1.549400 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:34.718873, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:34.731366, servo, servo - operation 0x0012 on z
2011-01-04T11:44:34.734654, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:34.736500, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=39.153759, end=45.553200, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:44:34.738176, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:34.740247, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:44:34.752987, servo, servo - operation 0x0012 on wrist
2011-01-04T11:44:34.754922, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:34.756526, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:34.758246, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:34.760184, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:44:34.761855, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:34.763711, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:34.778085, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:34.787065, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:34.792608, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:35.344213, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:35.344562, servo, srv get_profile_resp: z final pos=14453 tachs
(3345 mils, 45.408684 rads), distance=461 mils, srv_status=0, result code=0
2011-01-04T11:44:35.353278, service-metrics, z, Time 0.000241:0.000388:0.000716(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:35.356823, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:35.362312, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 235,3345,152 (mils)
(mils)
2011-01-04T11:44:45.295564, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,7,1, targ offsets (sign co
rrected) top:bot(TZW)=115,-229,-60:0,0,0 (mils)
2011-01-04T11:44:45.297102, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:44:45.297507, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=198,9965,213 cal positions(TZW)=313,9
736,153 (mils)
2011-01-04T11:44:45.299056, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:44:45.299500, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_END_OFFSET_Z, dim_value = 0 (mils)
2011-01-04T11:44:45.301064, robot-cmo, cmo_move_arm_z_scan_req: commanding arm t
o (Z) 9740 (mils)
2011-01-04T11:44:45.302611, servo, srv_user_move_mech_z_scan_req: scanType=3, to
9740 (mils)
2011-01-04T11:44:45.304450, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:45.317081, servo, servo - operation 0x0012 on z
2011-01-04T11:44:45.319276, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:45.321060, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=121.447968, end=132.207947, direction=1, end_seg=2, lead_on_dece
l=0
2011-01-04T11:44:45.322962, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:45.326277, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:44:46.059964, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:46.060314, servo, srv get_profile_resp: z final pos=42017 tachs
(9725 mils, 132.000610 rads), distance=777 mils, srv_status=0, result code=0
2011-01-04T11:44:46.069182, service-metrics, z, Time 0.000243:0.000397:0.000538(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:46.072735, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:46.643022, robot, label=000145L3, cart detect=1
2011-01-04T11:44:46.644772, robot, cmo_eval_op_state START: cmo_status=0, operat
ion=2, code=0, operationalState=0
2011-01-04T11:44:46.646216, robot, cmo_eval_op_state checking to see if cart pre
sent will be over-ridden by grip position
2011-01-04T11:44:46.646505, robot, cmo_eval_op_state sensor read - Reach Safe:1,
Cartridge Present:0
2011-01-04T11:44:46.647906, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:46.648223, robot, cmo_eval_op_state END: cmo_status=0, operatio
n=2, code=0, operationalState=0
2011-01-04T11:44:46.649750, robot, directorUserAuditData: Addr: (LMRC) 0,1,7,1,
Label:000145L3, Present:1, Upside Down:0, Magazine Absent:0
2011-01-04T11:44:46.650040, robot,
Last chunk=true
2011-01-04T11:44:46.675442, ifm, Audit response type DIRCT_MSG_AUDIT_RESP
2011-01-04T11:44:46.676816, ifm, Audit response was successfull
2011-01-04T11:44:46.697080, ifm, Audit response type DIRCT_MSG_AUDIT_RESP
2011-01-04T11:44:46.698460, ifm, Audit response was successfull
2011-01-04T11:44:46.716783, ifm, Audit response type DIRCT_MSG_AUDIT_RESP
2011-01-04T11:44:46.718203, ifm, Audit response was successfull
2011-01-04T11:44:46.736810, ifm, Audit response type DIRCT_MSG_AUDIT_RESP
2011-01-04T11:44:46.738177, ifm, Audit response was successfull
2011-01-04T11:44:46.757929, ifm, Audit response type DIRCT_MSG_AUDIT_RESP
2011-01-04T11:44:46.758459, ifm, Audit response was successfull
mech=0
2011-01-04T11:44:56.121422, servo, servo - operation 0x0012 on z
2011-01-04T11:44:56.123353, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:56.124948, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=42.989655, end=42.402176, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:44:56.126623, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:56.128422, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:44:56.155634, servo, servo - operation 0x0012 on wrist
2011-01-04T11:44:56.157617, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:56.159426, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:56.161198, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:56.164695, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:44:56.166495, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:56.168136, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:56.184760, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:56.195455, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:56.371778, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:56.372127, servo, srv get_profile_resp: track final pos=5119 ta
chs (4727 mils, 31.225899 rads), distance=60 mils, srv_status=0, result code=0
2011-01-04T11:44:56.380992, service-metrics, track, Time 0.000284:0.000369:0.000
556(Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:56.384567, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:56.431346, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:56.431694, servo, srv get_profile_resp: z final pos=13463 tachs
(3116 mils, 42.295361 rads), distance=51 mils, srv_status=0, result code=0
2011-01-04T11:44:56.440479, service-metrics, z, Time 0.000243:0.000340:0.000526(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:56.466062, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:56.473383, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 4727,3115,152 (mils)
2011-01-04T11:44:56.667852, robot, scanUserTarget: Returning target bars=11, ret
urnVal=0, code=0, targetReadTime=0.191158
2011-01-04T11:44:56.713219, robot-cfg-calib, cmo_target target found: Scanner Ho
rizontal Offset=7 (-left/+right)MILS, Vertical Offset=7 (-up/+down)MILS
2011-01-04T11:44:56.716695, robot-cfg-calib, Cfg_calib_library_cal_class::get: R
ight Half, Cal'd=1, offsets (TZW)=0,0,-60 (mils)
2011-01-04T11:44:56.718028, robot-cfg-calib, cmo_target: Applying Library Calibr
ation offset to Wrist
2011-01-04T11:44:56.721953, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,2 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:56.725590, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,2 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:56.727206, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,2 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:56.727564, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,1,2 -> top TZW=66,-207,-60, bottom TZW=0,0,0 (mils)
mils)
2011-01-04T11:44:56.790100, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,3,2 -> calibrated=1, retarget=0, top TZW=66,-207,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:44:56.791947, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,2 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:56.792536, robot, srv_user_hand_cart_state: cart present sensor
=0
2011-01-04T11:44:56.794215, robot-config, cfg_user_get_target_cartesian: Nominal
Target Cartesian Requested for address: (LMRC) 0,1,4,2
2011-01-04T11:44:56.795854, robot-config, Cfg_map_config_class::get_column (priv
ate): NON
adjusted track_mil_offset = 4668
2011-01-04T11:44:56.797503, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:44:56.799213, robot-config, cfg_user_get_target_cartesian: Calibra
ted Target Cartesian Requested for address: (LMRC) 0,1,4,2
2011-01-04T11:44:56.799783, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: START, addr= (LMRC) 0,1,4,2
2011-01-04T11:44:56.801397, robot-config, Cfg_map_config_class::get_column (priv
ate): NON
adjusted track_mil_offset = 4668
2011-01-04T11:44:56.803079, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position nom positions top:bot(TZW)=4668,8880,213:0,0,0
2011-01-04T11:44:56.804845, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,2 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:56.806490, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: Targets Not Calibrated
2011-01-04T11:44:56.806975, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: END, final positions top:bot(TZW)=4668,8880,213:0,0,0 (mil
s)
2011-01-04T11:44:56.808556, robot-cfg-calib, cfg_calib_user_get_target_cal_posit
ion(): location Not Calibrated for handEmpty, using handFull if available
2011-01-04T11:44:56.810248, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: START, addr= (LMRC) 0,1,4,2
2011-01-04T11:44:56.811845, robot-config, Cfg_map_config_class::get_column (priv
ate): NON
adjusted track_mil_offset = 4668
2011-01-04T11:44:56.812359, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position nom positions top:bot(TZW)=4668,8880,213:0,0,0
2011-01-04T11:44:56.815395, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,2 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:56.815956, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: Targets Not Calibrated
2011-01-04T11:44:56.817596, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: END, final positions top:bot(TZW)=4668,8880,213:0,0,0 (mil
s)
2011-01-04T11:44:56.819186, robot-config, cfg_user_get_target_cartesian: Target
is NOT Calibrated, using Library Cal (Endstop's Target Offsets, if set)
2011-01-04T11:44:56.820775, robot-cfg-calib, Cfg_calib_library_cal_class::get: R
ight Half, Cal'd=1, offsets (TZW)=0,0,-60 (mils)
2011-01-04T11:44:56.821382, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:44:56.832230, robot-cmo, cmo_move_arm: commanding arm to (TZW) 466
8,8884,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:44:56.833943, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:56.850029, servo, servo - operation 0x0012 on track
2011-01-04T11:44:56.851725, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:56.853411, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=31.244200, end=30.829399, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:44:56.853887, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:56.855518, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:44:56.880949, servo, servo - operation 0x0012 on z
2011-01-04T11:44:56.882705, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:56.884405, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=42.295361, end=120.587173, direction=1, end_seg=2, lead_on_decel
=0
2011-01-04T11:44:56.886030, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:56.887949, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:44:56.916791, servo, servo - operation 0x0012 on wrist
2011-01-04T11:44:56.918753, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:56.920588, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:56.922326, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:56.925875, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:44:56.927679, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:56.929315, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:56.947278, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:56.956602, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:57.122168, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:57.122518, servo, srv get_profile_resp: track final pos=5053 ta
chs (4666 mils, 30.823299 rads), distance=64 mils, srv_status=0, result code=0
2011-01-04T11:44:57.134832, service-metrics, track, Time 0.000283:0.000367:0.000
560(Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:57.138754, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:58.577385, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:58.577734, servo, srv get_profile_resp: z final pos=38330 tachs
(8871 mils, 120.417526 rads), distance=5755 mils, srv_status=0, result code=0
2011-01-04T11:44:58.586360, service-metrics, z, Time 0.000242:0.000419:0.000716(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:58.589893, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:58.595524, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 4667,8871,152 (mils)
2011-01-04T11:44:58.788859, robot, scanUserTarget: Returning target bars=9, retu
rnVal=0, code=0, targetReadTime=0.191098
2011-01-04T11:44:58.994219, robot, scanUserTarget: Returning target bars=7, retu
rnVal=0, code=0, targetReadTime=0.187873
2011-01-04T11:44:59.203321, robot, scanUserTarget: Returning target bars=9, retu
rnVal=0, code=0, targetReadTime=0.194945
2011-01-04T11:44:59.219701, robot-cmo, cmo_move_arm: commanding arm to (TZW) 466
8,8934,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:44:59.221287, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:59.237381, servo, servo - operation 0x0012 on track
2011-01-04T11:44:59.237978, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:59.239413, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=30.829399, end=30.829399, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:44:59.241016, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:59.241580, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:44:59.243187, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:59.244746, servo, srv get_profile_resp: track final pos=5054 ta
chs (4667 mils, 30.829399 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:59.255681, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:59.270111, servo, servo - operation 0x0012 on z
2011-01-04T11:44:59.271816, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:59.273499, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=120.417526, end=121.265755, direction=1, end_seg=2, lead_on_dece
l=0
2011-01-04T11:44:59.273979, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:59.275629, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:44:59.302912, servo, servo - operation 0x0012 on wrist
2011-01-04T11:44:59.306080, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:59.306457, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:59.308139, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:59.310011, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:44:59.311745, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:59.313494, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:59.327767, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:59.335354, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:59.340476, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:59.605322, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:59.605671, servo, srv get_profile_resp: z final pos=38532 tachs
(8918 mils, 121.052132 rads), distance=47 mils, srv_status=0, result code=0
2011-01-04T11:44:59.614348, service-metrics, z, Time 0.000242:0.000347:0.000524(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:59.617886, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:59.623489, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 4667,8918,152 (mils)
2011-01-04T11:44:59.812794, robot, scanUserTarget: Returning target bars=6, retu
rnVal=0, code=0, targetReadTime=0.187137
2011-01-04T11:45:00.032992, robot, scanUserTarget: Returning target bars=5, retu
rnVal=0, code=0, targetReadTime=0.207501
2011-01-04T11:45:00.238437, robot, scanUserTarget: Returning target bars=6, retu
rnVal=0, code=0, targetReadTime=0.194289
2011-01-04T11:45:00.251082, robot-cmo, cmo_move_arm: commanding arm to (TZW) 466
8,8834,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:45:00.252806, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:00.268882, servo, servo - operation 0x0012 on track
2011-01-04T11:45:00.269487, robot, Srv_mech_parm_class::state - parmsOn = 0
2967 (mils)
2011-01-04T11:45:08.404542, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:08.417150, servo, servo - operation 0x0012 on z
2011-01-04T11:45:08.418922, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:08.420438, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=29.553030, end=40.272171, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:45:08.422024, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:08.422597, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:09.156037, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:09.156386, servo, srv get_profile_resp: z final pos=12769 tachs
(2955 mils, 40.115089 rads), distance=778 mils, srv_status=0, result code=0
2011-01-04T11:45:09.165146, service-metrics, z, Time 0.000242:0.000397:0.000685(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:09.168690, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:10.254589, robot-cmo, cmo_user_audit_cell_scan failed: read_sta
tus=1, read_result.code=0, robot_status=0 robot_result.code=0
2011-01-04T11:45:10.256287, robot, cmo_eval_op_state START: cmo_status=2, operat
ion=2, code=0, operationalState=0
2011-01-04T11:45:10.257882, robot, cmo_eval_op_state checking to see if cart pre
sent will be over-ridden by grip position
2011-01-04T11:45:10.258388, robot, cmo_eval_op_state sensor read - Reach Safe:1,
Cartridge Present:0
2011-01-04T11:45:10.260019, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:10.261662, robot, cmo_eval_op_state END: cmo_status=2, operatio
n=2, code=0, operationalState=0
2011-01-04T11:45:10.263417, robot, directorUserAuditData: Addr: (LMRC) 0,1,1,2,
Label:, Present:0, Upside Down:0, Magazine Absent:0
2011-01-04T11:45:10.263905, robot,
Last chunk=false
2011-01-04T11:45:10.283213, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:45:10.285006, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,2,2 -> calibrated=1, retarget=0, top TZW=66,-207,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:45:10.286772, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,2,2, targ offsets (sign co
rrected) top:bot(TZW)=66,-207,-60:0,0,0 (mils)
2011-01-04T11:45:10.287299, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:45:10.288884, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=4668,4410,213 cal positions(TZW)=4734
,4203,153 (mils)
2011-01-04T11:45:10.290589, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:45:10.292198, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_START_OFFSET_Z, dim_value = -780 (mils)
2011-01-04T11:45:10.292768, robot-cmo, cmo_move_arm: commanding arm to (TZW) 473
4,3427,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:45:10.294248, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:10.308990, servo, servo - operation 0x0012 on track
2011-01-04T11:45:10.310661, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:10.312251, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=31.274700, end=31.268599, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:45:10.313810, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:10.315711, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:45:10.317372, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:10.317928, servo, srv get_profile_resp: track final pos=5127 ta
chs (4735 mils, 31.274700 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:10.328792, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:10.342743, servo, servo - operation 0x0012 on z
2011-01-04T11:45:10.344981, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:10.346772, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=40.115089, end=46.514530, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:45:10.348539, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:10.350439, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:10.372020, servo, servo - operation 0x0012 on wrist
2011-01-04T11:45:10.375301, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:10.375678, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:45:10.377437, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:10.379273, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:45:10.381085, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:10.382733, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:10.397110, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:10.405994, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:10.409799, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:10.955818, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:10.956166, servo, srv get_profile_resp: z final pos=14750 tachs
(3414 mils, 46.338600 rads), distance=458 mils, srv_status=0, result code=0
2011-01-04T11:45:10.964881, service-metrics, z, Time 0.000242:0.000389:0.000711(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:10.968427, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:10.970761, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 4734,3413,152 (mils)
2011-01-04T11:45:10.973777, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:45:10.974243, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,2,2 -> calibrated=1, retarget=0, top TZW=66,-207,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:45:10.975775, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,2,2, targ offsets (sign co
rrected) top:bot(TZW)=66,-207,-60:0,0,0 (mils)
2011-01-04T11:45:10.976064, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:45:10.977361, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=4668,4410,213 cal positions(TZW)=4734
,4203,153 (mils)
2011-01-04T11:45:10.979323, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:45:10.979625, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_END_OFFSET_Z, dim_value = 0 (mils)
2011-01-04T11:45:10.979889, robot-cmo, cmo_move_arm_z_scan_req: commanding arm t
o (Z) 4207 (mils)
2011-01-04T11:45:10.981226, servo, srv_user_move_mech_z_scan_req: scanType=3, to
4207 (mils)
2011-01-04T11:45:10.981514, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:10.995632, servo, servo - operation 0x0012 on z
2011-01-04T11:45:10.997334, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:10.999096, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=46.338600, end=57.101719, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:45:11.000909, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:11.003181, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:11.736750, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:11.737098, servo, srv get_profile_resp: z final pos=18129 tachs
(4196 mils, 56.954063 rads), distance=782 mils, srv_status=0, result code=0
2011-01-04T11:45:11.745726, service-metrics, z, Time 0.000241:0.000396:0.000515(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:11.749271, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:12.323022, robot, label=000147L3, cart detect=1
2011-01-04T11:45:12.324800, robot, cmo_eval_op_state START: cmo_status=0, operat
ion=2, code=0, operationalState=0
2011-01-04T11:45:12.325088, robot, cmo_eval_op_state checking to see if cart pre
sent will be over-ridden by grip position
2011-01-04T11:45:12.326425, robot, cmo_eval_op_state sensor read - Reach Safe:1,
Cartridge Present:0
2011-01-04T11:45:12.326768, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:12.328192, robot, cmo_eval_op_state END: cmo_status=0, operatio
n=2, code=0, operationalState=0
2011-01-04T11:45:12.328602, robot, directorUserAuditData: Addr: (LMRC) 0,1,2,2,
Label:000147L3, Present:1, Upside Down:0, Magazine Absent:0
2011-01-04T11:45:12.329929, robot,
Last chunk=false
2011-01-04T11:45:12.342755, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:45:12.343237, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,3,2 -> calibrated=1, retarget=0, top TZW=66,-207,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:45:12.344718, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,3,2, targ offsets (sign co
rrected) top:bot(TZW)=66,-207,-60:0,0,0 (mils)
2011-01-04T11:45:12.345002, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:45:12.346405, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=4668,5450,213 cal positions(TZW)=4734
,5243,153 (mils)
2011-01-04T11:45:12.346759, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:45:12.348153, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_START_OFFSET_Z, dim_value = -780 (mils)
2011-01-04T11:45:12.348436, robot-cmo, cmo_move_arm: commanding arm to (TZW) 473
mils)
2011-01-04T11:45:16.315714, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,5,2, targ offsets (sign co
rrected) top:bot(TZW)=66,-204,-60:0,0,0 (mils)
2011-01-04T11:45:16.316003, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:45:16.317369, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=4668,7685,213 cal positions(TZW)=4734
,7481,153 (mils)
2011-01-04T11:45:16.317738, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:45:16.319110, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_START_OFFSET_Z, dim_value = -780 (mils)
2011-01-04T11:45:16.319401, robot-cmo, cmo_move_arm: commanding arm to (TZW) 473
4,6705,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:45:16.319717, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:16.335866, servo, servo - operation 0x0012 on track
2011-01-04T11:45:16.339529, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:16.341194, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=31.268599, end=31.268599, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:45:16.344355, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:16.346673, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:45:16.348360, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:16.350032, servo, srv get_profile_resp: track final pos=5126 ta
chs (4734 mils, 31.268599 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:16.364184, servo, servo - operation 0x0012 on z
2011-01-04T11:45:16.368398, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:16.371766, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=87.330193, end=91.009010, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:45:16.375237, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:16.376843, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:16.380786, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:16.395026, servo, servo - operation 0x0012 on wrist
2011-01-04T11:45:16.398519, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:16.400416, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:45:16.402209, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:16.404470, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:45:16.407707, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:16.409507, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:16.418900, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:16.431450, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:16.438364, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:16.878166, robot, srv_utils_isr_get_response: Recieved Response
et Pending, pending=1
2011-01-04T11:45:20.294239, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:45:20.296126, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:20.297957, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:20.308592, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:20.321165, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:20.339461, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:20.872789, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:20.873137, servo, srv get_profile_resp: z final pos=38769 tachs
(8973 mils, 121.796684 rads), distance=459 mils, srv_status=0, result code=0
2011-01-04T11:45:20.881783, service-metrics, z, Time 0.000242:0.000388:0.000513(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:20.885421, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:20.888874, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 4734,8972,152 (mils)
2011-01-04T11:45:20.889398, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:45:20.891223, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,7,2 -> calibrated=1, retarget=0, top TZW=66,-204,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:45:20.892903, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,7,2, targ offsets (sign co
rrected) top:bot(TZW)=66,-204,-60:0,0,0 (mils)
2011-01-04T11:45:20.894462, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:45:20.894860, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=4668,9965,213 cal positions(TZW)=4734
,9761,153 (mils)
2011-01-04T11:45:20.896461, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:45:20.898027, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_END_OFFSET_Z, dim_value = 0 (mils)
2011-01-04T11:45:20.898451, robot-cmo, cmo_move_arm_z_scan_req: commanding arm t
o (Z) 9765 (mils)
2011-01-04T11:45:20.900033, servo, srv_user_move_mech_z_scan_req: scanType=3, to
9765 (mils)
2011-01-04T11:45:20.901596, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:20.914435, servo, servo - operation 0x0012 on z
2011-01-04T11:45:20.917646, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:20.918356, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=121.796684, end=132.547241, direction=1, end_seg=2, lead_on_dece
l=0
2011-01-04T11:45:20.920184, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:20.923739, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:21.657236, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:21.657586, servo, srv get_profile_resp: z final pos=42143 tachs
(9754 mils, 132.396454 rads), distance=781 mils, srv_status=0, result code=0
2011-01-04T11:45:21.666469, service-metrics, z, Time 0.000243:0.000402:0.000555(
chs (9138 mils, 60.359497 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:28.878493, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:28.894234, servo, servo - operation 0x0012 on z
2011-01-04T11:45:28.895921, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:28.896396, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=46.376297, end=43.828461, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:45:28.898026, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:28.899841, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:28.924970, servo, servo - operation 0x0012 on wrist
2011-01-04T11:45:28.926907, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:28.928579, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:45:28.929016, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:28.932268, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:45:28.934004, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:28.934341, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:28.950325, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:28.959543, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:28.963055, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:29.343817, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:29.345351, servo, srv get_profile_resp: z final pos=13905 tachs
(3218 mils, 43.683949 rads), distance=198 mils, srv_status=0, result code=0
2011-01-04T11:45:29.354134, service-metrics, z, Time 0.000247:0.000385:0.000798(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:29.357779, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:29.364762, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 9138,3218,152 (mils)
2011-01-04T11:45:29.565541, robot, scanUserTarget: Returning target bars=11, ret
urnVal=0, code=0, targetReadTime=0.198483
2011-01-04T11:45:29.614230, robot-cfg-calib, cmo_target target found: Scanner Ho
rizontal Offset=82 (-left/+right)MILS, Vertical Offset=-25 (-up/+down)MILS
2011-01-04T11:45:29.619548, robot-cfg-calib, Cfg_calib_library_cal_class::get: R
ight Half, Cal'd=1, offsets (TZW)=0,0,-60 (mils)
2011-01-04T11:45:29.621136, robot-cfg-calib, cmo_target: Applying Library Calibr
ation offset to Wrist
2011-01-04T11:45:29.624772, robot-config, cfg_parse_get_dimension succesful: dim
_name = CALIB_RETARGET_TOLERANCE, dim_value = 15 (mils)
2011-01-04T11:45:29.626887, robot-cmo, cmo_move_arm: commanding arm to (TZW) 922
0,3193,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:45:29.628581, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:29.644936, servo, servo - operation 0x0012 on track
2011-01-04T11:45:29.646630, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:29.648213, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=60.359497, end=60.902397, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:45:29.649769, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:29.650336, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:45:29.671734, servo, servo - operation 0x0012 on z
2011-01-04T11:45:29.673606, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:29.675311, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=43.683949, end=43.338371, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:45:29.676903, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:29.677475, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:29.708026, servo, servo - operation 0x0012 on wrist
2011-01-04T11:45:29.711454, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:29.713211, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:45:29.715061, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:29.716974, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:45:29.718879, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:29.720611, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:29.740304, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:29.751286, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:29.927578, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:29.927956, servo, srv get_profile_resp: track final pos=9974 ta
chs (9210 mils, 60.841400 rads), distance=73 mils, srv_status=0, result code=0
2011-01-04T11:45:29.936875, service-metrics, track, Time 0.000296:0.000385:0.000
591(Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:29.940421, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:29.949235, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:29.949584, servo, srv get_profile_resp: z final pos=13753 tachs
(3183 mils, 43.206425 rads), distance=35 mils, srv_status=0, result code=0
2011-01-04T11:45:29.958471, service-metrics, z, Time 0.000247:0.000337:0.000737(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:29.962077, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:29.969142, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 9210,3183,152 (mils)
2011-01-04T11:45:30.167799, robot, scanUserTarget: Returning target bars=11, ret
urnVal=0, code=0, targetReadTime=0.196457
2011-01-04T11:45:30.216532, robot-cfg-calib, cmo_target target found: Scanner Ho
rizontal Offset=7 (-left/+right)MILS, Vertical Offset=5 (-up/+down)MILS
2011-01-04T11:45:30.221735, robot-cfg-calib, Cfg_calib_library_cal_class::get: R
ight Half, Cal'd=1, offsets (TZW)=0,0,-60 (mils)
2011-01-04T11:45:30.223437, robot-cfg-calib, cmo_target: Applying Library Calibr
ation offset to Wrist
2011-01-04T11:45:30.230410, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,3 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:30.232296, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,3 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:30.234152, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,3 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
=0
2011-01-04T11:45:30.532063, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:30.533796, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:45:30.562437, servo, servo - operation 0x0012 on z
2011-01-04T11:45:30.564242, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:30.564712, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=43.206425, end=120.587173, direction=1, end_seg=2, lead_on_decel
=0
2011-01-04T11:45:30.566497, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:30.568191, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:30.597024, servo, servo - operation 0x0012 on wrist
2011-01-04T11:45:30.600450, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:30.602249, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:45:30.604098, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:30.607606, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:45:30.607985, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:30.609754, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:30.629417, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:30.640209, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:30.811451, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:30.811802, servo, srv get_profile_resp: track final pos=9891 ta
chs (9134 mils, 60.335098 rads), distance=83 mils, srv_status=0, result code=0
2011-01-04T11:45:30.824304, service-metrics, track, Time 0.000286:0.000384:0.000
563(Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:30.829500, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:32.250340, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:32.250690, servo, srv get_profile_resp: z final pos=38330 tachs
(8871 mils, 120.417526 rads), distance=5688 mils, srv_status=0, result code=0
2011-01-04T11:45:32.259580, service-metrics, z, Time 0.000245:0.000431:0.000946(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:32.263229, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:32.268241, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 9137,8871,152 (mils)
2011-01-04T11:45:32.485311, robot, scanUserTarget: Returning target bars=9, retu
rnVal=0, code=0, targetReadTime=0.216307
2011-01-04T11:45:32.692737, robot, scanUserTarget: Returning target bars=11, ret
urnVal=0, code=0, targetReadTime=0.191151
2011-01-04T11:45:32.907185, robot, scanUserTarget: Returning target bars=9, retu
rnVal=0, code=0, targetReadTime=0.189728
2011-01-04T11:45:32.924858, robot-cmo, cmo_move_arm: commanding arm to (TZW) 913
8,8934,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:45:32.926534, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:32.943288, servo, servo - operation 0x0012 on track
2011-01-04T11:45:32.945077, robot, Srv_mech_parm_class::state - parmsOn = 0
_cell_cal_position START
2011-01-04T11:45:45.842497, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,3 -> calibrated=1, retarget=0, top TZW=77,-173,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:45:45.842945, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,4,3, targ offsets (sign co
rrected) top:bot(TZW)=77,-173,-60:0,0,0 (mils)
2011-01-04T11:45:45.846164, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:45:45.846456, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=9138,6645,213 cal positions(TZW)=9215
,6472,153 (mils)
2011-01-04T11:45:45.848266, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:45:45.849719, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_END_OFFSET_Z, dim_value = 0 (mils)
2011-01-04T11:45:45.850009, robot-cmo, cmo_move_arm_z_scan_req: commanding arm t
o (Z) 6476 (mils)
2011-01-04T11:45:45.850256, servo, srv_user_move_mech_z_scan_req: scanType=3, to
6476 (mils)
2011-01-04T11:45:45.853800, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:45.866457, servo, servo - operation 0x0012 on z
2011-01-04T11:45:45.868164, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:45.869792, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=77.110573, end=87.901970, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:45:45.871318, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:45.871890, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:46.607176, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:46.607526, servo, srv get_profile_resp: z final pos=27926 tachs
(6463 mils, 87.732323 rads), distance=783 mils, srv_status=0, result code=0
2011-01-04T11:45:46.616435, service-metrics, z, Time 0.000242:0.000408:0.000950(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:46.619992, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:47.685721, robot-cmo, cmo_user_audit_cell_scan failed: read_sta
tus=1, read_result.code=0, robot_status=0 robot_result.code=0
2011-01-04T11:45:47.686142, robot, cmo_eval_op_state START: cmo_status=2, operat
ion=2, code=0, operationalState=0
2011-01-04T11:45:47.687595, robot, cmo_eval_op_state checking to see if cart pre
sent will be over-ridden by grip position
2011-01-04T11:45:47.687874, robot, cmo_eval_op_state sensor read - Reach Safe:1,
Cartridge Present:0
2011-01-04T11:45:47.689310, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:47.689625, robot, cmo_eval_op_state END: cmo_status=2, operatio
n=2, code=0, operationalState=0
2011-01-04T11:45:47.691216, robot, directorUserAuditData: Addr: (LMRC) 0,1,4,3,
Label:, Present:0, Upside Down:0, Magazine Absent:0
2011-01-04T11:45:47.691487, robot,
Last chunk=false
2011-01-04T11:45:47.712762, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:45:47.714373, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,5,3 -> calibrated=1, retarget=0, top TZW=77,-173,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:45:47.714773, robot-cfg-calib, Cfg_calib_target_class(public)::get
2011-01-04T11:45:49.671655, robot,
Last chunk=false
2011-01-04T11:45:49.693299, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:45:49.694914, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,6,3 -> calibrated=1, retarget=0, top TZW=77,-173,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:45:49.696454, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,6,3, targ offsets (sign co
rrected) top:bot(TZW)=77,-173,-60:0,0,0 (mils)
2011-01-04T11:45:49.696748, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:45:49.698065, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=9138,8725,213 cal positions(TZW)=9215
,8552,153 (mils)
2011-01-04T11:45:49.698440, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:45:49.698735, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_START_OFFSET_Z, dim_value = -780 (mils)
2011-01-04T11:45:49.700185, robot-cmo, cmo_move_arm: commanding arm to (TZW) 921
5,7776,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:45:49.700502, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:49.722155, servo, servo - operation 0x0012 on track
2011-01-04T11:45:49.723942, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:49.725446, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=60.865799, end=60.865799, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:45:49.726944, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:49.727510, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:45:49.729194, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:49.730585, servo, srv get_profile_resp: track final pos=9978 ta
chs (9214 mils, 60.865799 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:49.741700, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:49.761369, servo, servo - operation 0x0012 on z
2011-01-04T11:45:49.763088, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:49.763562, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=101.844383, end=105.548332, direction=1, end_seg=2, lead_on_dece
l=0
2011-01-04T11:45:49.765190, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:49.766829, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:49.794098, servo, servo - operation 0x0012 on wrist
2011-01-04T11:45:49.796035, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:49.797742, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:45:49.799485, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:49.801354, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:45:49.804708, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:49.805046, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:49.820857, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
Cartridge Present:0
2011-01-04T11:45:51.627916, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:51.628264, robot, cmo_eval_op_state END: cmo_status=0, operatio
n=2, code=0, operationalState=0
2011-01-04T11:45:51.629809, robot, directorUserAuditData: Addr: (LMRC) 0,1,6,3,
Label:000278L3, Present:1, Upside Down:0, Magazine Absent:0
2011-01-04T11:45:51.630084, robot,
Last chunk=false
2011-01-04T11:45:51.642757, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:45:51.644396, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,7,3 -> calibrated=1, retarget=0, top TZW=77,-173,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:45:51.645887, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,7,3, targ offsets (sign co
rrected) top:bot(TZW)=77,-173,-60:0,0,0 (mils)
2011-01-04T11:45:51.646177, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:45:51.646422, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=9138,9965,213 cal positions(TZW)=9215
,9792,153 (mils)
2011-01-04T11:45:51.647931, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:45:51.649343, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_START_OFFSET_Z, dim_value = -780 (mils)
2011-01-04T11:45:51.649652, robot-cmo, cmo_move_arm: commanding arm to (TZW) 921
5,9016,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:45:51.649966, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:51.667319, servo, servo - operation 0x0012 on track
2011-01-04T11:45:51.669801, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:51.671475, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=60.865799, end=60.865799, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:45:51.673406, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:51.676810, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:45:51.678492, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:51.680149, servo, srv get_profile_resp: track final pos=9978 ta
chs (9214 mils, 60.865799 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:51.694424, servo, servo - operation 0x0012 on z
2011-01-04T11:45:51.698666, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:51.702051, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=115.956451, end=122.377884, direction=1, end_seg=2, lead_on_dece
l=0
2011-01-04T11:45:51.705614, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:51.707255, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:51.711115, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:51.727101, servo, servo - operation 0x0012 on wrist
2011-01-04T11:45:51.729379, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:51.732552, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:45:51.734492, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:51.738133, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:45:51.739950, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:51.741871, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:51.750741, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:51.765399, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:51.772276, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:52.316649, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:52.316999, servo, srv get_profile_resp: z final pos=38892 tachs
(9001 mils, 122.183105 rads), distance=459 mils, srv_status=0, result code=0
2011-01-04T11:45:52.325912, service-metrics, z, Time 0.000237:0.000393:0.000549(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:52.329468, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:52.333082, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 9214,9001,152 (mils)
2011-01-04T11:45:52.334611, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:45:52.336526, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,7,3 -> calibrated=1, retarget=0, top TZW=77,-173,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:45:52.337081, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,7,3, targ offsets (sign co
rrected) top:bot(TZW)=77,-173,-60:0,0,0 (mils)
2011-01-04T11:45:52.338593, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:45:52.340071, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=9138,9965,213 cal positions(TZW)=9215
,9792,153 (mils)
2011-01-04T11:45:52.340637, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:45:52.342176, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_END_OFFSET_Z, dim_value = 0 (mils)
2011-01-04T11:45:52.343949, robot-cmo, cmo_move_arm_z_scan_req: commanding arm t
o (Z) 9796 (mils)
2011-01-04T11:45:52.345564, servo, srv_user_move_mech_z_scan_req: scanType=3, to
9796 (mils)
2011-01-04T11:45:52.346012, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:52.359846, servo, servo - operation 0x0012 on z
2011-01-04T11:45:52.362040, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:52.364013, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=122.183105, end=132.968216, direction=1, end_seg=2, lead_on_dece
l=0
2011-01-04T11:45:52.365890, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:52.369227, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:53.103080, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:53.103428, servo, srv get_profile_resp: z final pos=42275 tachs
(9784 mils, 132.811142 rads), distance=783 mils, srv_status=0, result code=0
2011-01-04T11:45:53.112261, service-metrics, z, Time 0.000243:0.000404:0.000554(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:53.115856, robot, srv_user_is_reach_safe: cart present sensor=0
0
2011-01-04T11:45:56.462847, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:56.464575, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:56.493641, servo, servo - operation 0x0012 on wrist
2011-01-04T11:45:56.495655, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:56.497310, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:45:56.499073, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:56.500891, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:45:56.502912, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:56.504525, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:56.520631, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:56.533203, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:56.535405, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:56.790973, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:56.791321, servo, srv get_profile_resp: z final pos=14535 tachs
(3364 mils, 45.663155 rads), distance=46 mils, srv_status=0, result code=0
2011-01-04T11:45:56.801712, service-metrics, z, Time 0.000244:0.000355:0.000746(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:56.805534, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:56.811181, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 13611,3364,152 (mils)
2011-01-04T11:45:57.013046, robot, scanUserTarget: Returning target bars=13, ret
urnVal=0, code=0, targetReadTime=0.198394
2011-01-04T11:45:57.312142, robot, scanUserTarget: Returning target bars=7, retu
rnVal=0, code=0, targetReadTime=0.271835
2011-01-04T11:45:57.532212, robot, scanUserTarget: Returning target bars=15, ret
urnVal=0, code=0, targetReadTime=0.205678
2011-01-04T11:45:57.564820, robot-cmo, cmo_move_arm: commanding arm to (TZW) 136
08,3279,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:45:57.566554, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:57.583067, servo, servo - operation 0x0012 on track
2011-01-04T11:45:57.584833, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:57.586400, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=89.907898, end=89.889595, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:45:57.587989, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:57.588553, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:45:57.590115, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:57.591691, servo, srv get_profile_resp: track final pos=14739 t
achs (13611 mils, 89.907898 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:57.602755, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:57.613789, servo, servo - operation 0x0012 on z
2011-01-04T11:45:57.618817, robot, Srv_mech_parm_class::state - parmsOn = 0
mils)
2011-01-04T11:45:59.025529, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,4 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:59.027245, robot, srv_user_hand_cart_state: cart present sensor
=0
2011-01-04T11:45:59.028917, robot-config, cfg_user_get_target_cartesian: Nominal
Target Cartesian Requested for address: (LMRC) 0,1,4,4
2011-01-04T11:45:59.029436, robot-config, Cfg_map_config_class::get_column (priv
ate): NON
adjusted track_mil_offset = 13608
2011-01-04T11:45:59.031180, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:45:59.032987, robot-config, cfg_user_get_target_cartesian: Calibra
ted Target Cartesian Requested for address: (LMRC) 0,1,4,4
2011-01-04T11:45:59.034667, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: START, addr= (LMRC) 0,1,4,4
2011-01-04T11:45:59.036247, robot-config, Cfg_map_config_class::get_column (priv
ate): NON
adjusted track_mil_offset = 13608
2011-01-04T11:45:59.037899, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position nom positions top:bot(TZW)=13608,8880,213:0,0,0
2011-01-04T11:45:59.039723, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,4 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:59.040244, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: Targets Not Calibrated
2011-01-04T11:45:59.041922, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: END, final positions top:bot(TZW)=13608,8880,213:0,0,0 (mi
ls)
2011-01-04T11:45:59.043590, robot-cfg-calib, cfg_calib_user_get_target_cal_posit
ion(): location Not Calibrated for handEmpty, using handFull if available
2011-01-04T11:45:59.045401, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: START, addr= (LMRC) 0,1,4,4
2011-01-04T11:45:59.046999, robot-config, Cfg_map_config_class::get_column (priv
ate): NON
adjusted track_mil_offset = 13608
2011-01-04T11:45:59.047515, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position nom positions top:bot(TZW)=13608,8880,213:0,0,0
2011-01-04T11:45:59.050459, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,4 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:59.050994, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: Targets Not Calibrated
2011-01-04T11:45:59.052588, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: END, final positions top:bot(TZW)=13608,8880,213:0,0,0 (mi
ls)
2011-01-04T11:45:59.054237, robot-config, cfg_user_get_target_cartesian: Target
is NOT Calibrated, using Library Cal (Endstop's Target Offsets, if set)
2011-01-04T11:45:59.054734, robot-cfg-calib, Cfg_calib_library_cal_class::get: R
ight Half, Cal'd=1, offsets (TZW)=0,0,-60 (mils)
2011-01-04T11:45:59.056472, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:45:59.059777, robot-cmo, cmo_move_arm: commanding arm to (TZW) 136
08,8884,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:45:59.061450, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:59.077777, servo, servo - operation 0x0012 on track
2011-01-04T11:45:59.079488, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:59.079958, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=90.347099, end=89.889595, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:45:59.081555, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:59.083305, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
0
2011-01-04T11:46:08.437666, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:08.439297, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:46:09.173131, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:09.173482, servo, srv get_profile_resp: z final pos=13142 tachs
(3042 mils, 41.286907 rads), distance=776 mils, srv_status=0, result code=0
2011-01-04T11:46:09.182323, service-metrics, z, Time 0.000246:0.000409:0.001007(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:46:09.185929, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:09.754080, robot, label=000280L3, cart detect=1
2011-01-04T11:46:09.755804, robot, cmo_eval_op_state START: cmo_status=0, operat
ion=2, code=0, operationalState=0
2011-01-04T11:46:09.756090, robot, cmo_eval_op_state checking to see if cart pre
sent will be over-ridden by grip position
2011-01-04T11:46:09.757570, robot, cmo_eval_op_state sensor read - Reach Safe:1,
Cartridge Present:0
2011-01-04T11:46:09.757903, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:09.759305, robot, cmo_eval_op_state END: cmo_status=0, operatio
n=2, code=0, operationalState=0
2011-01-04T11:46:09.759696, robot, directorUserAuditData: Addr: (LMRC) 0,1,1,4,
Label:000280L3, Present:1, Upside Down:0, Magazine Absent:0
2011-01-04T11:46:09.761138, robot,
Last chunk=false
2011-01-04T11:46:09.782768, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:46:09.784620, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,2,4 -> calibrated=1, retarget=0, top TZW=72,-121,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:46:09.786391, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,2,4, targ offsets (sign co
rrected) top:bot(TZW)=72,-121,-60:0,0,0 (mils)
2011-01-04T11:46:09.786708, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:46:09.788267, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=13608,4410,213 cal positions(TZW)=136
80,4289,153 (mils)
2011-01-04T11:46:09.790144, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:46:09.791572, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_START_OFFSET_Z, dim_value = -780 (mils)
2011-01-04T11:46:09.791864, robot-cmo, cmo_move_arm: commanding arm to (TZW) 136
80,3513,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:46:09.793859, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:09.811505, servo, servo - operation 0x0012 on track
2011-01-04T11:46:09.813739, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:09.815364, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=90.377602, end=90.365395, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:46:09.816967, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:09.818773, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:46:09.819139, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:09.820625, servo, srv get_profile_resp: track final pos=14816 t
achs (13682 mils, 90.377602 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:46:09.831120, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:46:09.860629, servo, servo - operation 0x0012 on z
2011-01-04T11:46:09.862451, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:09.864046, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=41.286907, end=47.683205, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:46:09.865669, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:09.867411, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:46:09.894956, servo, servo - operation 0x0012 on wrist
2011-01-04T11:46:09.898137, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:09.898514, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:46:09.900253, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:09.902149, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:46:09.905328, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:09.905666, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:46:09.920129, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:46:09.945269, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:09.949001, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:10.471537, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:10.471887, servo, srv get_profile_resp: z final pos=15130 tachs
(3502 mils, 47.532406 rads), distance=460 mils, srv_status=0, result code=0
2011-01-04T11:46:10.480894, service-metrics, z, Time 0.000244:0.000398:0.000942(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:46:10.484577, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:10.491198, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 13680,3501,152 (mils)
2011-01-04T11:46:10.491498, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:46:10.493267, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,2,4 -> calibrated=1, retarget=0, top TZW=72,-121,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:46:10.493664, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,2,4, targ offsets (sign co
rrected) top:bot(TZW)=72,-121,-60:0,0,0 (mils)
2011-01-04T11:46:10.495100, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:46:10.495349, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=13608,4410,213 cal positions(TZW)=136
80,4289,153 (mils)
2011-01-04T11:46:10.496856, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:46:10.497157, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_END_OFFSET_Z, dim_value = 0 (mils)
2011-01-04T11:46:10.498494, robot-cmo, cmo_move_arm_z_scan_req: commanding arm t
o (Z) 4293 (mils)
2011-01-04T11:46:10.498791, servo, srv_user_move_mech_z_scan_req: scanType=3, to
4293 (mils)
2011-01-04T11:46:10.499093, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:10.516736, servo, servo - operation 0x0012 on z
2011-01-04T11:46:10.518463, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:10.518929, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=47.532406, end=58.270397, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:46:10.520523, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:10.522215, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:46:11.255900, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:11.256250, servo, srv get_profile_resp: z final pos=18494 tachs
(4280 mils, 58.100750 rads), distance=779 mils, srv_status=0, result code=0
2011-01-04T11:46:11.265201, service-metrics, z, Time 0.000241:0.000405:0.000753(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:46:11.268748, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:12.334421, robot-cmo, cmo_user_audit_cell_scan failed: read_sta
tus=1, read_result.code=0, robot_status=0 robot_result.code=0
2011-01-04T11:46:12.334842, robot, cmo_eval_op_state START: cmo_status=2, operat
ion=2, code=0, operationalState=0
2011-01-04T11:46:12.336313, robot, cmo_eval_op_state checking to see if cart pre
sent will be over-ridden by grip position
2011-01-04T11:46:12.336602, robot, cmo_eval_op_state sensor read - Reach Safe:1,
Cartridge Present:0
2011-01-04T11:46:12.337994, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:12.338314, robot, cmo_eval_op_state END: cmo_status=2, operatio
n=2, code=0, operationalState=0
2011-01-04T11:46:12.339831, robot, directorUserAuditData: Addr: (LMRC) 0,1,2,4,
Label:, Present:0, Upside Down:0, Magazine Absent:0
2011-01-04T11:46:12.340109, robot,
Last chunk=false
2011-01-04T11:46:12.352755, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:46:12.354448, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,3,4 -> calibrated=1, retarget=0, top TZW=72,-121,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:46:12.355926, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,3,4, targ offsets (sign co
rrected) top:bot(TZW)=72,-121,-60:0,0,0 (mils)
2011-01-04T11:46:12.356238, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:46:12.356483, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=13608,5450,213 cal positions(TZW)=136
80,5329,153 (mils)
2011-01-04T11:46:12.358062, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:46:12.358359, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_START_OFFSET_Z, dim_value = -780 (mils)
2011-01-04T11:46:12.359717, robot-cmo, cmo_move_arm: commanding arm to (TZW) 136
80,4553,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:46:12.360041, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:12.450067, servo, servo - operation 0x0012 on track
2011-01-04T11:46:12.451831, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:12.453358, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=90.365395, end=90.365395, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:46:12.453835, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:12.455514, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:46:12.457036, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:12.457407, servo, srv get_profile_resp: track final pos=14813 t
achs (13680 mils, 90.365395 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:46:12.467933, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:46:12.502024, servo, servo - operation 0x0012 on z
2011-01-04T11:46:12.503780, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:12.504259, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=58.100750, end=61.798412, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:46:12.505884, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:12.507700, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:46:12.534923, servo, servo - operation 0x0012 on wrist
2011-01-04T11:46:12.536849, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:12.538559, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:46:12.540271, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:12.542170, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:46:12.543961, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:12.545676, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:46:12.559989, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:46:12.585414, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:12.589172, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:13.010629, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:13.010980, servo, srv get_profile_resp: z final pos=19622 tachs
(4541 mils, 61.644474 rads), distance=261 mils, srv_status=0, result code=0
2011-01-04T11:46:13.019927, service-metrics, z, Time 0.000244:0.000389:0.000689(
Min:Avg:Max secs), MSI's=1
2011-01-04T11:46:13.025441, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:13.029202, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 13680,4541,152 (mils)
2011-01-04T11:46:13.030649, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:46:13.032291, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,3,4 -> calibrated=1, retarget=0, top TZW=72,-121,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:46:13.034546, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,3,4, targ offsets (sign co
rrected) top:bot(TZW)=72,-121,-60:0,0,0 (mils)
2011-01-04T11:46:13.035948, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:46:13.036205, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=13608,5450,213 cal positions(TZW)=136
80,5329,153 (mils)
2011-01-04T11:46:13.038073, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:46:13.039664, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_END_OFFSET_Z, dim_value = 0 (mils)
2011-01-04T11:46:13.039950, robot-cmo, cmo_move_arm_z_scan_req: commanding arm t
o (Z) 5333 (mils)
2011-01-04T11:46:13.041732, servo, srv_user_move_mech_z_scan_req: scanType=3, to
5333 (mils)
2011-01-04T11:46:13.045017, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:13.057935, servo, servo - operation 0x0012 on z
2011-01-04T11:46:13.059693, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:13.061203, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=61.644474, end=72.388748, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:46:13.061717, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:13.063504, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:46:13.798836, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:13.799185, servo, srv get_profile_resp: z final pos=22990 tachs
(5321 mils, 72.225380 rads), distance=780 mils, srv_status=0, result code=0
2011-01-04T11:46:13.808198, service-metrics, z, Time 0.000244:0.000406:0.000716(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:46:13.811783, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:14.875340, robot-cmo, cmo_user_audit_cell_scan failed: read_sta
tus=1, read_result.code=0, robot_status=0 robot_result.code=0
2011-01-04T11:46:14.875755, robot, cmo_eval_op_state START: cmo_status=2, operat
ion=2, code=0, operationalState=0
2011-01-04T11:46:14.877168, robot, cmo_eval_op_state checking to see if cart pre
sent will be over-ridden by grip position
2011-01-04T11:46:14.877461, robot, cmo_eval_op_state sensor read - Reach Safe:1,
Cartridge Present:0
2011-01-04T11:46:14.878911, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:14.879240, robot, cmo_eval_op_state END: cmo_status=2, operatio
n=2, code=0, operationalState=0
2011-01-04T11:46:14.880769, robot, directorUserAuditData: Addr: (LMRC) 0,1,3,4,
Label:, Present:0, Upside Down:0, Magazine Absent:0
2011-01-04T11:46:14.881051, robot,
Last chunk=false
2011-01-04T11:46:14.904056, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:46:14.904547, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,4 -> calibrated=1, retarget=0, top TZW=57,-163,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:46:14.906399, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,4,4, targ offsets (sign co
rrected) top:bot(TZW)=57,-163,-60:0,0,0 (mils)
2011-01-04T11:46:14.907849, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:46:14.908112, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=13608,6645,213 cal positions(TZW)=136
65,6482,153 (mils)
2011-01-04T11:46:14.910067, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:46:14.911509, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_START_OFFSET_Z, dim_value = -780 (mils)
mils)
2011-01-04T11:46:15.555558, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,4,4, targ offsets (sign co
rrected) top:bot(TZW)=57,-163,-60:0,0,0 (mils)
2011-01-04T11:46:15.557281, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:46:15.557561, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=13608,6645,213 cal positions(TZW)=136
65,6482,153 (mils)
2011-01-04T11:46:15.559282, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:46:15.560882, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_END_OFFSET_Z, dim_value = 0 (mils)
2011-01-04T11:46:15.561163, robot-cmo, cmo_move_arm_z_scan_req: commanding arm t
o (Z) 6486 (mils)
2011-01-04T11:46:15.564296, servo, srv_user_move_mech_z_scan_req: scanType=3, to
6486 (mils)
2011-01-04T11:46:15.564598, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:15.577207, servo, servo - operation 0x0012 on z
2011-01-04T11:46:15.578962, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:15.580546, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=77.289642, end=88.037056, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:46:15.581029, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:15.582756, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:46:16.318073, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:16.318423, servo, srv get_profile_resp: z final pos=27975 tachs
(6475 mils, 87.886261 rads), distance=781 mils, srv_status=0, result code=0
2011-01-04T11:46:16.327322, service-metrics, z, Time 0.000243:0.000406:0.000559(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:46:16.330911, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:17.393402, robot-cmo, cmo_user_audit_cell_scan failed: read_sta
tus=1, read_result.code=0, robot_status=0 robot_result.code=0
2011-01-04T11:46:17.395005, robot, cmo_eval_op_state START: cmo_status=2, operat
ion=2, code=0, operationalState=0
2011-01-04T11:46:17.396339, robot, cmo_eval_op_state checking to see if cart pre
sent will be over-ridden by grip position
2011-01-04T11:46:17.396651, robot, cmo_eval_op_state sensor read - Reach Safe:1,
Cartridge Present:0
2011-01-04T11:46:17.396981, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:17.398438, robot, cmo_eval_op_state END: cmo_status=2, operatio
n=2, code=0, operationalState=0
2011-01-04T11:46:17.398875, robot, directorUserAuditData: Addr: (LMRC) 0,1,4,4,
Label:, Present:0, Upside Down:0, Magazine Absent:0
2011-01-04T11:46:17.400246, robot,
Last chunk=false
2011-01-04T11:46:17.412757, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:46:17.413244, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,5,4 -> calibrated=1, retarget=0, top TZW=57,-163,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:46:17.414737, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,5,4, targ offsets (sign co
rrected) top:bot(TZW)=57,-163,-60:0,0,0 (mils)
2011-01-04T11:46:17.415025, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:46:19.885072, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,6,4 -> calibrated=1, retarget=0, top TZW=57,-163,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:46:19.885481, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,6,4, targ offsets (sign co
rrected) top:bot(TZW)=57,-163,-60:0,0,0 (mils)
2011-01-04T11:46:19.885763, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:46:19.887195, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=13608,8725,213 cal positions(TZW)=136
65,8562,153 (mils)
2011-01-04T11:46:19.887551, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:46:19.888937, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_START_OFFSET_Z, dim_value = -780 (mils)
2011-01-04T11:46:19.889216, robot-cmo, cmo_move_arm: commanding arm to (TZW) 136
65,7786,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:46:19.890661, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:19.910959, servo, servo - operation 0x0012 on track
2011-01-04T11:46:19.912788, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:19.914224, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=90.261696, end=90.261696, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:46:19.915807, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:19.917588, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:46:19.917975, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:19.919411, servo, srv get_profile_resp: track final pos=14797 t
achs (13664 mils, 90.261696 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:46:19.928947, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:46:19.961056, servo, servo - operation 0x0012 on z
2011-01-04T11:46:19.962892, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:19.964437, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=102.004608, end=105.683418, direction=1, end_seg=2, lead_on_dece
l=0
2011-01-04T11:46:19.964922, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:19.966645, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:46:19.993730, servo, servo - operation 0x0012 on wrist
2011-01-04T11:46:19.995721, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:19.997336, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:46:19.999069, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:20.001064, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:46:20.002800, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:20.004449, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:46:20.018909, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:46:20.045878, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
mech=1
2011-01-04T11:46:25.643731, servo, servo - operation 0x0012 on wrist
2011-01-04T11:46:25.645672, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:25.647457, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.366400, end=126.721397, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:46:25.649200, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:25.651143, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:46:27.394527, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:27.394877, servo, srv get_profile_resp: z final pos=14337 tachs
(3318 mils, 45.041119 rads), distance=6477 mils, srv_status=0, result code=0
2011-01-04T11:46:27.403853, service-metrics, z, Time 0.000244:0.000432:0.000842(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:46:27.407404, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:27.426989, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:27.427340, servo, srv get_profile_resp: wrist final pos=20782 t
achs (14209 mils, 126.770195 rads), distance=14056 mils, srv_status=0, result co
de=0
2011-01-04T11:46:27.436205, service-metrics, wrist, Time 0.000242:0.000420:0.000
732(Min:Avg:Max secs), MSI's=0
2011-01-04T11:46:27.439814, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:27.452509, servo, servo - operation 0x0012 on track
2011-01-04T11:46:27.454346, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:27.455852, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=84.716797, end=89.889595, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:46:27.456332, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:27.458081, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:46:27.943067, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:27.944520, servo, srv get_profile_resp: track final pos=14721 t
achs (13594 mils, 89.798096 rads), distance=769 mils, srv_status=0, result code=
0
2011-01-04T11:46:27.952131, service-metrics, track, Time 0.000294:0.000428:0.000
577(Min:Avg:Max secs), MSI's=0
2011-01-04T11:46:27.957060, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:27.962740, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 13592,3318,14201 (mils)
2011-01-04T11:46:28.166422, robot, scanUserTarget: Returning target bars=21, ret
urnVal=0, code=0, targetReadTime=0.200279
2011-01-04T11:46:28.213262, robot, targetValid(): Valid Run Length Exceeded, max
= 19, runLength = 21
2011-01-04T11:46:28.410278, robot, scanUserTarget: Returning target bars=13, ret
urnVal=0, code=0, targetReadTime=0.194719
2011-01-04T11:46:28.633970, robot, scanUserTarget: Returning target bars=13, ret
urnVal=0, code=0, targetReadTime=0.195216
2011-01-04T11:46:28.662400, robot-cmo, cmo_move_arm: commanding arm to (TZW) 136
08,3379,14204 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:46:28.664217, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:28.680469, servo, servo - operation 0x0012 on track
W) 13610,3270,14204 (mils)
2011-01-04T11:46:30.507284, robot, scanUserTarget: Returning target bars=13, ret
urnVal=0, code=0, targetReadTime=0.203533
2011-01-04T11:46:30.752292, robot, scanUserTarget: Returning target bars=11, ret
urnVal=0, code=0, targetReadTime=0.218499
2011-01-04T11:46:31.070159, robot, scanUserTarget: Returning target bars=13, ret
urnVal=0, code=0, targetReadTime=0.296175
2011-01-04T11:46:31.098654, robot-cmo, cmo_move_arm: commanding arm to (TZW) 136
08,3429,14204 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:46:31.099266, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:31.116760, servo, servo - operation 0x0012 on track
2011-01-04T11:46:31.118488, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:31.118966, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=89.901802, end=89.889595, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:46:31.120537, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:31.122377, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:46:31.123820, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:31.124279, servo, srv get_profile_resp: track final pos=14738 t
achs (13610 mils, 89.901802 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:46:31.135297, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:46:31.151401, servo, servo - operation 0x0012 on z
2011-01-04T11:46:31.153129, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:31.154754, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=44.393948, end=46.542805, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:46:31.156278, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:31.156851, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:46:31.182201, servo, servo - operation 0x0012 on wrist
2011-01-04T11:46:31.185557, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:31.187359, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=126.727501, end=126.721397, direction=-1, end_seg=2, lead_on_dec
el=0
2011-01-04T11:46:31.189072, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:31.191089, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:46:31.192744, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:31.194388, servo, srv get_profile_resp: wrist final pos=20775 t
achs (14204 mils, 126.727501 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:46:31.210620, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:46:31.221671, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:31.225240, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:31.580259, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:31.580608, servo, srv get_profile_resp: z final pos=14763 tachs
(3417 mils, 46.379440 rads), distance=146 mils, srv_status=0, result code=0
2011-01-04T11:46:31.589406, service-metrics, z, Time 0.000241:0.000375:0.000836(
Min:Avg:Max secs), MSI's=0
AMCC PowerPC 405GP Rev. E at 198 MHz (PLB=99, OPB=49, EBC=33 MHz)
Internal PCI arbiter enabled, PCI async ext clock used
16 kB I-Cache 8 kB D-Cache
RLC DRAM size: 128
H/W rev 0
I2C: ready
DRAM: 128 MB
FLASH: 32 MB
*** Warning - bad CRC, using default environment
PCI:
while this kerneId Card Flash: CFI does not contain boot bank location. Assuming
top.
l is version 2.4number of CFI chips: 1
.18-030
WarningUsing page write method
: loading rlc_secfi_cmdset_0002: Disabling fast programming due to code brokenne
ss.
rvo will taint tId Card Flash: Found 1 x16 devices at 0x0 in 8-bit mode
he kernel: no li Amd/Fujitsu Extended Query Table at 0x0040
cense
See httId Card Flash: CFI does not contain boot bank location. Assuming top.
p://www.tux.org/number of CFI chips: 1
lkml/#export-taiUsing page write method
nted for informacfi_cmdset_0002: Disabling fast programming due to code brokenne
ss.
tion about taintcmdlinepart partition parsing not available
ed modules
WarnRedBoot partition parsing not available
ing: loading rlcUsing physmap partition definition
_servo will tainCreating 3 MTD partitions on "Id Card Flash":
t the kernel: fo0x00000000-0x007fffff : "Id Card General Use"
rced load
Using0x00800000-0x01feffff : "Id Card raw space"
/lib/modules/2.0x01ff0000-0x01ffffff : "protected space"
4.18/rlc_scan.o
insmod: Warning: kernel-module version mismatch
/lib/modules/2.4.18/rlc_scan.o was compiled for kernel version 2.4.18_mv
l30
while this kernel is version 2.4.18-030
Warning: loading rlc_scan will taint the kernel: no license
See http://www.tux.org/lkml/#export-tainted for information about tainted modu
les
Warning: loading rlc_scan will taint the kernel: forced load
Using /lib/modules/2.4.18/scsi_tgt.o
insmod: Warning: kernel-module version mismatch
/lib/modules/2.4.18/scsi_tgt.o was compiled for kernel version 2.4.18_mv
l30
while this kernel is version 2.4.18-030
Warning: loading scsi_tgt will taint the kernel: no license
See http://www.tux.org/lkml/#export-tainted for information about tainted modu
les
Warning: loading scsi_tgt will taint the kernel: forced load
Using /lib/modules/2.4.18/hwMonitor.o
insmod: Warning: kernel-module version mismatch
/lib/modules/2.4.18/hwMonitor.o was compiled for kernel version 2.4.18_m
vl30
while this kernel is version 2.4.18-030
Warning: loading hwMonitor will taint the kernel: no license
See http://www.tux.org/lkml/#export-tainted for information about tainted modu
les
Warning: loading hwMonitor will taint the kernel: forced load
Using /lib/modules/2.4.18/rlcIdcard_physmap.o
insmod: Warning: kernel-module version mismatch
/lib/modules/2.4.18/rlcIdcard_physmap.o was compiled for kernel version
2.4.18_mvl30
while this kernel is version 2.4.18-030
Warning: loading rlcIdcard_physmap will taint the kernel: forced load
See http://www.tux.org/lkml/#export-tainted for information about tainted modu
les
Using /lib/modules/2.4.18/ralloc.o
AMCC PowerPC 405GP Rev. E at 198 MHz (PLB=99, OPB=49, EBC=33 MHz)
Internal PCI arbiter enabled, PCI async ext clock used
16 kB I-Cache 8 kB D-Cache
RLC DRAM size: 128
H/W rev 0
I2C: ready
DRAM: 128 MB
FLASH: 32 MB
*** Warning - bad CRC, using default environment
PCI:
buf = 256
Done with linuxrc...
Freeing unused kernel memory: 64k init
INIT: version 2.78 booting
Using /lib/modules/2.4.18/rlcfpga.o
insmod: Warning: kernel-module version mismatch
/lib/modules/2.4.18/rlcfpga.o was compiled for kernel version 2.4.18_mvl
30
while this kernel is version 2.4.18-030
Warning: loading rlcfpga will taint the kernel: no license
See http://www.tux.org/lkml/#export-tainted for information about tainted modu
les
Warning: loading rlcfpga will taint the kernel: forced load
Useth1: PCI device 8086:1209, ing /lib/modulesBA:/2.4.18/i82559etBE:h.o
insmod: WarBE:ning: kernel-mod00:ule version mism00:atch
/lib/modu01, les/2.4.18/i8255IRQ 26.
9eth.o was compi General self-test: passed.
led for kernel v Serial sub-system self-test: passed.
ersion 2.4.18_mv Internal registers self-test: passed.
l30
while this ROM checksum self-test: passed (0x1d68d8db).
kernel is versi Receiver lock-up workaround activated.
on 2.4.18-030
Warning: loading i82559eth will taint the kernel: forced load
See http://www.tux.org/lkml/#expNVRAM bank size is 2MB
ort-tainted for information about tainted modules
Using /lib/modules/2.4.18/nvram.o
insmod: Warning: kernel-mosysfru: installed driver REV(1.01)
dule version mismatch
/lib/modules/2.4.18/nvram.o was compiled for kernel version 2.4.18_mvl30
while this kephysmap flash device: 2000000 at fe000000
rnel is version 2.4.18-030
WarnPhysically mapped flash: Found 1 x16 devices at 0x0 in 8-bit mode
ing: loading nvr Amd/Fujitsu Extended Query Table at 0x0040
am will taint thPhysically mapped flash: CFI does not contain boot bank location
. Assuming top.
e kernel: no licnumber of CFI chips: 1
ense
See httpUsing page write method
://www.tux.org/lcfi_cmdset_0002: Disabling fast programming due to code brokenne
ss.
kml/#export-taincmdlinepart partition parsing not available
ted for informatRedBoot partition parsing not available
ion about tainteUsing physmap partition definition
d modules
WarniCreating 6 MTD partitions on "Physically mapped flash":
ng: loading nvra0x00000000-0x01deffff : "ELIB work space"
m will taint the0x01df0000-0x01f2ffff : "Root disk image"
kernel: forced 0x01f30000-0x01fdffff : "Linux kernel"
load
Using /lib0x01fe0000-0x01ffffff : "PPCBoot"
/modules/2.4.18/0x00000000-0x01fbffff : "JFFS2 space"
sysfru.o
insmod0x01fc0000-0x01ffffff : "U-Boot"
: Warning: kernel-module version mismatch
/lib/modules/2.4.18/sysfru.o was compiled for kernel version 2.4.18_mvl3
0
while this kernel is version 2.4.18-030
les
Warning: loading scsi_tgt will taint the kernel: forced load
Using /lib/modules/2.4.18/hwMonitor.o
insmod: Warning: kernel-module version mismatch
/lib/modules/2.4.18/hwMonitor.o was compiled for kernel version 2.4.18_m
vl30
while this kernel is version 2.4.18-030
Warning: loading hwMonitor will taint the kernel: no license
See http://www.tux.org/lkml/#export-tainted for information about tainted modu
les
Warning: loading hwMonitor will taint the kernel: forced load
Using /lib/modules/2.4.18/rlcIdcard_physmap.o
insmod: Warning: kernel-module version mismatch
/lib/modules/2.4.18/rlcIdcard_physmap.o was compiled for kernel version
2.4.18_mvl30
while this kernel is version 2.4.18-030
Warning: loading rlcIdcard_physmap will taint the kernel: forced load
See http://www.tux.org/lkml/#export-tainted for information about tainted modu
les
Using /lib/modules/2.4.18/ralloc.o
insmod: Warning: kernel-module version mismatch
/lib/modules/2.4.18/ralloc.o was compiled for kernel version 2.4.18_mvl3
0
while this kernel is version 2.4.18-030
Warning: loading ralloc will taint the kernel: no license
See http://www.tux.org/lkml/#export-tainted for information about tainted modu
les
Warning: loading ralloc will taint the kernel: forced load
0
: expandapps() Expanding /mnt/flash/snmp.tarball /usr/local
16270+1 records in
16270+1 records out
0
: expandapps() Unzipped and extracted /usr/local/temp.tar.gz successful
ly
0
: crammount() Mounting /mnt/flash/libs.cramfs /dev/ram2 /mnt/libs
41984+0 records in
41984+0 records out
0
cleanwarnthreshold print
Show the library's current warning threshold count for cleaning cartridges.
cleanwarnthreshold <count> <drivetype>
Set a warning threshold count for the number of cleans a cartridge can
perform for a given drive type before a warning is issued.
<drivetype> is 'lto' or 'dlt'.
If the value is set to 0 no warning will be issued.
codeload 'filename'
Load in new code image.
date <print> | <mm/dd/yyyy>
Print or set the library's date value. Takes the library off of
network time if set.
diagcaps
Diagnose the CAPs.
diagcontinueoutput
Contiue output from a diagnostic started in a previous client session.
diagdemo <diagdemo> <count> <mode>
Moves any cartridge from a random source to a random destination.
Example: diagdemo 10 silent
Example: diagdemo 100 nonsilent
diagdoor
Diagnose the Door.
diaggetput <diaggetput> <diag type> <source addr|random>
<destination addr|random|all> <count> <mode>
Moves the diagnostic cartridge from the specified or random source
to the specified or random destination.
The "all" parameter refers to all drives.
Example: diaggetput cellToCell 0,1,2,1 0,1,3,3 10 silent
Example: diaggetput cellToCell 0,1,2,1 0,1,5,2 5 nonsilent
Example: diaggetput cellToDrive 0,1,2,1 0,1,2,9 5 nonsilent
Example: diaggetput cellToDrive 0,1,3,2 all 5 silent
diagquery <diagquery> <diag type> <count> <mode>
Example: diagquery basicHealth 10 silent
Example: diagquery basicHealth 10 nonsilent
diagselftest <src address> <loop count> <mode>
Performs library basic health diagnostic. Then does get/put
operations from the src address to random empty cells in the
library. Then performs mounts from the src address to all drives
attached to the library. The test requires atleast one piece of media
and one drive.
Example: diagselftest 0,1,1,2 2 silent
Example: diagselftest 0,2,1,1 10 nonsilent
diagstop
Stop the 'Diag' operation.
driveFaultLEDs
Show the library's drive enclosure fault LEDs state
drive all
Show drive information for all drives.
drive <addr> clean
Clean the specified drive. A label may be specified when prompted.
drive <addr> getconfig
Show the specified drive's fibre channel or SCSI configuration.
drive <addr> gettime
Show the specified drive's Time-of-Day (TOD) clock setting.
drive <addr> info
Show the specified drive's information.
reserved print
Show the library's current reserved cell count.
reserved <number of cells>
Set the maximum number of reserved(playground) library storage cells
in the library.
resetdefaults
Reset library defaults: admin password='', CAPs = I/O,
barcode is 6 characters (left6) left aligned for host,
barcode is 8 characters (left8) left aligned for oppanel,
reserved slots = 0, inventory mode is labels required,
service inventory set to off.
resetoppanel
Cause a hard Op Panel reset to occur.
resetpw <admin> | <oem> | <service> | <oppanel> | <all>
Places the specified login password back to the -needs activatedstate. This is used to recover forgotten passwords.
scanaudit print
Show the library's current 'scanaudit' option setting
scanaudit <on|off>
Set the 'scanaudit on/off' option.
This option controls whether or not the library performs a scanning audit.
Setting option to 'on' will casue scanning audits. This is the default.
Setting option to 'off' will disable scanning audits.
Hard to read labels are more difficult to read with scanning audit,
but it is faster than reading each individual location.
serviceinfo clear
WARNING: Clears ALL service contact information.
serviceinfo print
Display service contact information.
serviceinfo set contact '<contactString>' |
streetAddr '<streetAddrString>' |
city '<cityString>' |
state '<stateString>' |
country '<countryString>' |
zip '<zipString>' |
description '<locationString>' |
phone '<phoneString>' |
pager '<pagerString>' |
email '<emailString>' |
assetnumber '<assetNumString>' |
Sets the service contact information, library location
information, library assetnumber, and library location
description
session timeout <minutes>
Sets the timeout of this session. If no characters are typed
within this time frame, the user is logged off.
shutdown
Orderly shutdown of library
snmp addTrapRecipient
trapLevel <trapLevelString>
host <hostName | hostAddr>
version <v2c community <communityString>
|
v3 name <trapUserName>
auth <MD5 | SHA>
authPass <authPassPhrase>
[priv <DES | AES>
privPass <privPassPhrase>]
engineId <engineIdString>
where <trapLevelString is a single digit or a comma separated
list of digits 1,2,3,4,... or *
and <hostName | hostAddr> need to be fully qualified.
The engine ID shall be string of at most 31 hex characters,
preceded with 0x.
snmp addUser
version <v2c community <communityString>
|
v3 name <trapUserName>
auth <MD5 | SHA>
authPass <authPassPhrase>
[priv <DES | AES>
privPass <privPassPhrase>]
snmp deleteTrapRecipient
<id <index>
|
host <hostName | hostAddr>
version <v2c community <communityString>
|
v3 name <trapUserName> > >
The <hostName | hostAddr> need to be fully qualified
snmp deleteUser
<id <index>
|
version <v2c community <communityString>
|
v3 name <userName> > >
snmp disable port<portID>
snmp enable port<portID>
where <portID> is 1B, public, or 1A
Notes: - Ethernet ports: port1B = public, port1A = private
- Ports 2A, and 2B are currently unavailable on this library
snmp listTrapRecipients
snmp listUsers
ssh print
Show the current SSH allowed version setting
ssh < setversion2 | setversion1or2 >
setversion2: Restrict ssh to connect only with protcol version 2 (more secur
e)
setversion1or2: Allow ssh to connect with either protocol version 2 (first) o
r version 1
statistics robot print
Show the total number of get/put operations, retries, and failures.
statistics library print
Show number of Boots/initializations.
Show cumulative uptime (updated hourly).
Show uptime since last boot.
statistics media print <byDate | byMedia | byDrive>
Display various drive and media events useful for isolating drive or
media errors. The event types are MediaError, LoadError, UnloadError,
LoadRetry, and DriveError The output is sorted by one of the following key
words
byDate - (default) displays output sorted by date/time with the most
recent events first
byMedia - groups the output by Volume ID in order of the media with
2010-12-10T09:01:25.946,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "No HW Config CAP label for Base unit, assuming LTO module
."
2010-12-17T09:10:38.469,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for z"
2010-12-17T09:10:46.498,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5051, "Asynchronous event for reach: Door Opened"
2010-12-17T09:25:52.067,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "No HW Config CAP label for Base unit, assuming LTO module
."
2010-12-21T14:05:32.992,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "CAP in module 1, shows closed after attempting to open"
2010-12-21T14:05:53.926,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "CAP in module 1, shows closed after attempting to open"
2010-12-21T14:06:13.466,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "CAP in module 1, shows closed after attempting to open"
2010-12-21T14:06:38.960,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for z"
2010-12-21T14:06:47.715,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5051, "Asynchronous event for reach: Door Opened"
2010-12-21T14:09:13.517,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "No HW Config CAP label for Base unit, assuming LTO module
."
2010-12-21T14:11:35.930,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for z"
2010-12-21T14:17:36.019,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "No HW Config CAP label for Base unit, assuming LTO module
."
2010-12-23T09:14:20.212,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for z"
2010-12-23T09:14:29.047,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5051, "Asynchronous event for reach: Door Opened"
2010-12-23T09:28:08.219,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "No HW Config CAP label for Base unit, assuming LTO module
."
2010-12-30T09:53:00.421,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for z"
2010-12-30T09:53:08.259,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5051, "Asynchronous event for reach: Door Opened"
2010-12-30T10:01:27.589,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "No HW Config CAP label for Base unit, assuming LTO module
."
2011-01-03T03:02:45.155,
0.0.9.0.2, 000,
robot-cmo,
, warn, 0000, 0000, "Performed put retry. Put retry total = 1. Address for thi
s retry (LMRC) 0,1,2,9"
2011-01-03T03:02:52.425,
0.0.9.0.2, 000,
robot-cmo,
, warn, 0000, 0000, "Performed put retry. Put retry total = 2. Address for thi
s retry (LMRC) 0,1,2,9"
2011-01-03T03:02:59.465,
0.0.9.0.2, 000,
robot-cmo,
, warn, 0000, 0000, "Performed put retry. Put retry total = 3. Address for thi
s retry (LMRC) 0,1,2,9"
2011-01-03T03:03:06.686,
0.0.9.0.2, 000,
robot-cmo,
, warn, 0000, 0000, "Performed put retry. Put retry total = 4. Address for thi
s retry (LMRC) 0,1,2,9"
2011-01-03T03:03:13.169,
0.0.0.0.0, 3202,
ifm,
, warn, 0000, 3305, "IFM drive event and the Library state is unknown."
2011-01-03T17:31:52.054,
0.0.0.0.0, 3202,
ifm,
, warn, 0000, 3305, "IFM drive event and the Library state is unknown."
2011-01-03T17:31:52.134,
0.0.0.0.0, 3202,
ifm,
, warn, 0000, 3305, "IFM drive event and the Library state is unknown."
2011-01-03T17:37:44.487,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for track"
2011-01-03T17:37:44.566,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for wrist"
2011-01-03T17:37:44.647,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for reach"
2011-01-03T17:37:44.824,
0.0.0.0.0, 3202,
ifm,
, warn, 0000, 3305, "IFM drive event and the Library state is unknown."
2011-01-03T17:37:44.844,
0.0.0.0.0, 3202,
ifm,
, warn, 0000, 3305, "IFM drive event and the Library state is unknown."
2011-01-04T09:29:01.120,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for track"
2011-01-04T09:29:01.199,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for wrist"
2011-01-04T09:29:01.277,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5037, "Asynchronous shutdown request for reach"
2011-01-04T09:29:01.425,
0.0.0.0.0, 3202,
ifm,
, warn, 0000, 3305, "IFM drive event and the Library state is unknown."
2011-01-04T09:29:01.445,
0.0.0.0.0, 3202,
ifm,
, warn, 0000, 3305, "IFM drive event and the Library state is unknown."
2011-01-04T11:36:16.804,
0.0.0.0.0, 000,
servo,
, warn, 0000, 5051, "Asynchronous event for reach: Door Opened"
2011-01-04T11:43:50.203,
0.0.0.1.0, 000,
robot,
, warn, 0000, 0000, "No HW Config CAP label for Base unit, assuming LTO module
."
log_info:
=======================
2011-01-04T11:43:57.083,
0.0.0.0.0, 000, Config-License,
, info, 0000, 0000, "Processing legacy licenses"
2011-01-04T11:43:57.134,
0.0.0.0.0, 000, Config-License,
, info, 0000, 0000, "License checking - LimitedBase exists: 99001"
2011-01-04T11:44:28.345,
0.0.1.0.1, 000,
robot, /usr/local/bin/D
irector, info, 0000, 0000, "targetValid(): Valid Run Length Exceeded, max = 19
, runLength = 27"
2011-01-04T11:44:28.612,
0.0.1.0.1, 000,
robot, /usr/local/bin/D
irector, info, 0000, 0000, "targetValid(): Valid Run Length Exceeded, max = 19
, runLength = 27"
2011-01-04T11:44:29.568,
0.0.1.0.1, 000,
robot, /usr/local/bin/D
irector, info, 0000, 0000, "targetValid(): Valid Run Length Exceeded, max = 19
, runLength = 29"
2011-01-04T11:44:43.555,
0.0.0.0.0, 001, sensor-manager,
, info, 0000, 0000, "SensorPowerFuncs: doPwrSupplyState - Module 1 Power Suppl
y 1 has become operational"
2011-01-04T11:44:43.732,
0.0.0.0.0, 000,
LibMD,
, info, 0000, 0000, "Service Beacon is DEACTIVATED: Current Health Event indic
ates Power Supply 01 in Module 01 is operational"
2011-01-04T11:44:48.884,
0.0.0.0.0, 001, sensor-manager,
, info, 0000, 0000, "SensorPowerFuncs: doPwrSupplyState - Module 1 Power Suppl
y 2 has become operational"
2011-01-04T11:44:49.008,
0.0.0.0.0, 000,
LibMD,
, info, 0000, 0000, "Service Beacon is DEACTIVATED: Current Health Event indic
ates Power Supply 02 in Module 01 is operational"
2011-01-04T11:44:53.393,
0.0.2.0.1, 000,
robot, /usr/local/bin/D
irector, info, 0000, 0000, "targetValid(): Valid Run Length Exceeded, max = 19
, runLength = 23"
2011-01-04T11:44:53.641,
0.0.2.0.1, 000,
robot, /usr/local/bin/D
irector, info, 0000, 0000, "targetValid(): Valid Run Length Exceeded, max = 19
, runLength = 23"
log_diagnostic:
=======================
log_config:
=======================
2011-01-04T11:41:47.064,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Code Version in flash: 1373 (6.53.00)"
2011-01-04T11:41:47.084,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Vendor type: STK"
2011-01-04T11:41:48.441,
0.0.0.0.0, 000,
OpPanel,
, config, 0000, 0000, "No LCD display present"
2011-01-04T11:41:59.954,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Scan firmware version is SXX_302I"
2011-01-04T11:42:02.847,
0.0.0.1.0, 000,
robot,
, config, 0000, 0000, "HW Rev in scanner is 003"
2011-01-04T11:43:56.789,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Module for cap info
1, 2, 3, 4, 5, 6"
2011-01-04T11:43:56.804,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Caps installed:
1, 0, 0, 0, 0, 0"
2011-01-04T11:43:56.824,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Cap configured as caps: 1, 0, 0, 0, 0, 0"
2011-01-04T11:43:57.027,
0.0.0.0.0, 000, Config-License,
, config, 0000, 0000, "The following Licenses are stored:"
2011-01-04T11:43:57.051,
0.0.0.0.0, 000, Config-License,
, config, 0000, 0000, "SL500_license_config_99001.lsf, filedate=2009-11-24 13:25
"
2011-01-04T11:43:57.181,
0.0.0.0.0, 000, Config-License,
, config, 0000, 0000, " License Sequence:99001 with Feature name:Capacity value:
LimitedBase assigned to module:1"
2011-01-04T11:43:58.870,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Cell restrictions in effect: max_cells=30"
2011-01-04T11:43:58.892,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Reserved cells in effect: reserved count=1"
2011-01-04T11:43:58.913,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Physical modules=1, key enabled modules=1"
2011-01-04T11:43:58.941,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Module 1: Base drive CAP last"
2011-01-04T11:43:59.144,
0.0.0.0.0, 3201,
ifm,
, config, 0100, 0100, "Partition not allowed at init."
2011-01-04T11:43:59.189,
0.0.0.0.0, 1000,
host,
, config, 1201, 0000, "Host Partitioning Selected"
2011-01-04T11:43:59.379,
0.0.0.0.0, 1000,
host,
, config, 1201, 0000, "Multiple LUN partition"
2011-01-04T11:44:02.095,
0.0.0.0.0, 1000,
scsi-engine,
, config, 1200, 0000, "FIBRE TRANSPORT LAYER for /dev/scsi_tgt0"
2011-01-04T11:44:02.372,
0.0.0.0.0, 1000,
scsi-engine,
, config, 1200, 0000, "Desired Fibre Settings for port 0: hard_addressing = 0,
loop_id = 0, node_wwn = 50:01:04:f0:00:8f:16:0f, port_wwn = 50:01:04:f0:00:8f:1
6:10"
2011-01-04T11:44:02.403,
0.0.0.0.0, 1000,
host,
, config, 1201, 0000, "Device 0 - 1 host port(s) detected"
2011-01-04T11:44:03.160,
0.0.0.0.0, 1000,
scsi-engine,
, config, 1200, 0000, "Current Fibre Settings for port 0: hard_addressing = 0,
loop_id = 255, node_wwn = 50:01:04:f0:00:8f:16:0f, port_wwn = 50:01:04:f0:00:8f:
16:10"
2011-01-04T11:44:15.673,
0.0.1.0.1, 000,
robot,
, config, 0000, 0000, "Setting Shutter Speed to: 200"
2011-01-04T11:44:17.790,
0.0.1.0.1, 000,
robot,
, config, 0000, 0000, "Setting Shutter Speed to: 400"
log_trace:
=======================
2011-01-04T11:41:26.977779, processMgr, readConfigFileNonProcessItems() rebootCo
untThreshold = 4
2011-01-04T11:41:26.978797, processMgr, readConfigFileNonProcessItems() rebootTi
meThreshold = 10800
2011-01-04T11:41:26.979858, processMgr, readConfigFileNonProcessItems() rebootTh
resholdRecovery = suspendRecovery
2011-01-04T11:41:26.981756, processMgr, readConfigFileNonProcessItems() User reb
oot file = ""
2011-01-04T11:41:26.982355, processMgr, readConfigFileNonProcessItems() User shu
tdown file = ""
2011-01-04T11:41:26.983035, processMgr, readConfigFileNonProcessItems() User rec
overy file = "/usr/local/bin/rebootOnInit"
2011-01-04T11:41:29.082914, processMgr, runCommand: systemCmd = ./verdeSetup
2011-01-04T11:41:29.220233, robot, verdeSetup - Application Exiting.
2011-01-04T11:41:29.233948, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/EventMgr ()
2011-01-04T11:41:30.249142, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/OdsMgr ()
2011-01-04T11:41:33.159306, ods, Unable to get IP address for eth1
2011-01-04T11:41:33.160262, ods, Unable to get net mask for eth1
2011-01-04T11:41:33.183047, ods, File syncing turned ON
2011-01-04T11:41:33.195082, ods, OdsMgr initialization completed.
2011-01-04T11:41:34.334422, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/AccessMgr ()
2011-01-04T11:41:34.399557, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/LibMD ()
2011-01-04T11:41:34.433455, processMgr, runCommand: systemCmd = /etc/init.d/snmp
restart
2011-01-04T11:41:34.655203, LibMD, LibMD Starting
2011-01-04T11:41:34.683313, LibMD, LibMD Registered for LibMD Events
2011-01-04T11:41:41.472453, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/VSnmp ()
2011-01-04T11:41:41.480308, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/VSnmpMIB ()
2011-01-04T11:41:41.488353, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/VSnmpRelay ()
2011-01-04T11:41:42.080486, VSnmpTrap, VSnmp Starting
2011-01-04T11:41:42.090603, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/VTtiMain ()
2011-01-04T11:41:42.094283, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/Host ()
2011-01-04T11:41:42.136923, VSnmpTrap, THREAD STARTED
2011-01-04T11:41:42.285156, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/VDriveMain ()
2011-01-04T11:41:42.285813, processMgr, runCommand: systemCmd = ./hbbSetup
2011-01-04T11:41:42.755421, VSnmpRelay, CLI Relay STARTED
2011-01-04T11:41:42.758171, VSnmpRelay, CLI Relay Socket
2011-01-04T11:41:42.758898, VSnmpRelay, CLI Relay Bind
2011-01-04T11:41:43.142156, VSnmpMIB, MIB DATA STARTED
2011-01-04T11:41:43.148143, VSnmpMIB, MIB DATA Socket
2011-01-04T11:41:43.148879, VSnmpMIB, MIB DATA Bind
2011-01-04T11:41:43.170200, VSnmpRelay, CLI Relay Listen
2011-01-04T11:41:43.170748, VSnmpRelay, Client Select Fired
2011-01-04T11:41:43.170999, VSnmpRelay, ISSET mySocket
2011-01-04T11:41:43.171469, VSnmpRelay, CLI Relay acceptSocket
2011-01-04T11:41:43.172679, VSnmpRelay, CLI Relay announcePresence: = <request s
equence="1"><command>announcePresence</command><requestId>internalActivity</requ
estId><parms><deviceType>snmp</deviceType></parms></request>
sr/local/bin/srv_track
2011-01-04T11:41:44.526211, tti-dbg-13, vttiTask: Started for Drive 13
2011-01-04T11:41:44.526515, tti-dbg-13, vttiTask: Waiting for Request
2011-01-04T11:41:44.529144, tti-dbg-14, vttiTask: Started for Drive 14
2011-01-04T11:41:44.529446, tti-dbg-14, vttiTask: Waiting for Request
2011-01-04T11:41:44.542726, servo, srv_mech_get: mech is track
2011-01-04T11:41:44.544363, servo, srv_mech_task: setting real time priority for
mech=track
2011-01-04T11:41:44.545094, servo, sys_set_rt_priority(): rt_priority enum=2, sc
hp.sched_priority=117
2011-01-04T11:41:44.551137, servo, srv_mech_get: mech is reach
2011-01-04T11:41:44.552774, servo, srv_mech_task: setting real time priority for
mech=reach
2011-01-04T11:41:44.553506, servo, sys_set_rt_priority(): rt_priority enum=3, sc
hp.sched_priority=112
2011-01-04T11:41:44.562123, tti-dbg-15, vttiTask: Started for Drive 15
2011-01-04T11:41:44.562530, tti-dbg-15, vttiTask: Waiting for Request
2011-01-04T11:41:44.492279, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/srv_isr ()
2011-01-04T11:41:44.685841, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/Director ()
2011-01-04T11:41:44.858161, servo, srv_mech_get: sys_task_get_id() mechTaskId=/u
sr/local/bin/srv_wrist
2011-01-04T11:41:44.889782, servo, srv_mech_get: sys_task_get_id() mechTaskId=/u
sr/local/bin/srv_strack
2011-01-04T11:41:44.892906, servo, srv_mech_get: mech is strack
2011-01-04T11:41:44.895508, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/Ifm ()
2011-01-04T11:41:44.926255, tti-dbg-16, vttiTask: Started for Drive 16
2011-01-04T11:41:44.926562, tti-dbg-16, vttiTask: Waiting for Request
2011-01-04T11:41:44.929210, tti-dbg-17, vttiTask: Started for Drive 17
2011-01-04T11:41:44.929513, tti-dbg-17, vttiTask: Waiting for Request
2011-01-04T11:41:44.945711, servo, srv_mech_task: setting real time priority for
mech=s-track
2011-01-04T11:41:44.946396, servo, sys_set_rt_priority(): rt_priority enum=2, sc
hp.sched_priority=117
2011-01-04T11:41:44.951988, servo, srv_mech_get: mech is wrist
2011-01-04T11:41:44.953612, servo, srv_mech_task: setting real time priority for
mech=wrist
2011-01-04T11:41:44.972942, servo, sys_set_rt_priority(): rt_priority enum=3, sc
hp.sched_priority=112
2011-01-04T11:41:44.981592, tti-dbg-18, vttiTask: Started for Drive 18
2011-01-04T11:41:44.981998, tti-dbg-18, vttiTask: Waiting for Request
2011-01-04T11:41:45.052806, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/VMonitor ()
2011-01-04T11:41:45.054972, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/SensorMgr ()
2011-01-04T11:41:45.307278, servo, srv_mech_get: sys_task_get_id() mechTaskId=/u
sr/local/bin/srv_z
2011-01-04T11:41:45.345671, servo, SRV ISR - Start
2011-01-04T11:41:45.348373, servo, srv_mech_get: mech is z
2011-01-04T11:41:45.351727, servo, srv_mech_task: setting real time priority for
mech=z
2011-01-04T11:41:45.352451, servo, sys_set_rt_priority(): rt_priority enum=3, sc
hp.sched_priority=112
2011-01-04T11:41:45.363553, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/Diag ()
2011-01-04T11:41:45.393182, servo, sys_set_rt_priority(): rt_priority enum=1, sc
hp.sched_priority=122
2011-01-04T11:41:45.395225, sys, sys_cpuinfo_get_cpu_clock: sys_cpuinfo_clock_fr
eq=198000000Hz
2011-01-04T11:41:45.402685, servo, ServoMoveData - initBuffer()
2011-01-04T11:41:45.434418, processMgr, processMgr::createProcess():process star
ted = /usr/local/bin/Stats ()
2011-01-04T11:41:45.724388, processMgr, runCommand: systemCmd = touch processMgr
.ready
2011-01-04T11:41:46.059039, LibMD, Sensor Manager is in mainloop.
2011-01-04T11:41:46.105939, sensor-manager, SensorManager: init value for sensor
/dev/mainDoorUnlock
2011-01-04T11:41:46.203098, sensor-manager, SensorManager: init value for sensor
/dev/capUnlock
2011-01-04T11:41:46.302749, sensor-manager, SensorManager: init value for sensor
/dev/cap1
2011-01-04T11:41:46.402753, sensor-manager, SensorManager: init value for sensor
/dev/cap2
2011-01-04T11:41:46.472069, Statistics, Stats Starting
2011-01-04T11:41:46.482589, Statistics, MediaEventLogger::readFromStorageFile():
[/mnt/nvram/MediaDriveEvents.txt]
2011-01-04T11:41:46.502755, sensor-manager, SensorManager: init value for sensor
/dev/cap3
2011-01-04T11:41:46.523586, Statistics, MediaEventLogger::_getMediaEventFileLock
- obtaining lock
2011-01-04T11:41:46.524439, Statistics, MediaEventLogger::_getMediaEventFileLock
- got lock
2011-01-04T11:41:46.602762, sensor-manager, SensorManager: init value for sensor
/dev/cap4
2011-01-04T11:41:46.702745, sensor-manager, SensorManager: init value for sensor
/dev/cap5
2011-01-04T11:41:46.725117, Statistics, MediaEventLogger::dumpNamedFile(): [/usr
/local/share/MediaDriveEvents_uponBoot.txt]
2011-01-04T11:41:46.802770, sensor-manager, SensorManager: init value for sensor
/dev/cap6
2011-01-04T11:41:46.923651, sensor-manager, SensorManager: init value for sensor
/dev/mainDoor
2011-01-04T11:41:46.934064, access-manager, LIB_ACCESS_CLOSED, LED_OFF
2011-01-04T11:41:47.023468, access-manager, *** DOOR CLOSED
2011-01-04T11:41:47.031042, access-manager, AMDoorSensorEvent - Door closed even
t
2011-01-04T11:41:47.031318, access-manager, AM: Transition START->(AM_DOOR_CLOSE
D_TRANSITION)->AUDIT LIBRARY, cap button(disabled) door button(enabled)
2011-01-04T11:41:47.032137,
or = 1 cap = 0
2011-01-04T11:41:47.036065,
ND
2011-01-04T11:41:47.047745,
2011-01-04T11:41:47.049408,
2011-01-04T11:41:47.049684,
2011-01-04T11:41:47.050247,
2011-01-04T11:41:47.082970,
2011-01-04T11:41:47.102833,
2011-01-04T11:41:47.143384,
2011-01-04T11:41:47.353086,
2011-01-04T11:41:47.353632,
AILED = 6414
2011-01-04T11:41:47.353997,
2011-01-04T11:41:47.354341,
2011-01-04T11:41:48.209263,
eq=198000000Hz
d Successful
2011-01-04T11:42:02.521591, robot-config, cfg_parse_get_dimension succesful: dim
_name = COLUMN_0_TO_3_WRIST, dim_value = 213 (mils)
2011-01-04T11:42:02.538020, robot, Director - initialize lib cal data: rev = 1,
wrist offset = 182 mils, wrist_lash = 29 mils
2011-01-04T11:42:02.538555, robot-cfg-calib, Cfg_calib_library_cal_class::set: l
ib_half=1, offsets (TZW)=0,0,-60 (mils)
2011-01-04T11:42:02.539054, robot, Director - initialize lib cal data: wrist off
set = -60 mils, wrist_lash = 29 mils
2011-01-04T11:42:02.539519, robot, Director - initialize handbot 0
2011-01-04T11:42:02.540274, servo, Init Move to Negative Endstop reach mech
2011-01-04T11:42:02.548101, servo, servo - operation 0x0011 on reach
2011-01-04T11:42:02.548436, robot, mech_move_stall: mech=3, options=1
2011-01-04T11:42:02.548998, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:42:02.549615, servo, srv_mech_build_prof_request(): profile type=0
, mech=3, start=0.000000, end=-1830.000000, direction=-1, end_seg=1, lead_on_dec
el=0
2011-01-04T11:42:02.550917, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:42:02.551484, servo, srv_utils_isr_get_response: calling sigwait,
mech=3
2011-01-04T11:42:02.556154, servo, *** changing direction, mech=3, dir_bit=1
2011-01-04T11:42:02.812999, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:42:02.813344, servo, srv get_profile_resp: reach final pos=0 tachs
(0 mils, 0.000000 rads), distance=23 mils, srv_status=0, result code=0
2011-01-04T11:42:02.820768, service-metrics, reach, Time 0.000453:0.000536:0.001
413(Min:Avg:Max secs), MSI's=0
2011-01-04T11:42:02.821286, servo, Move Stall OK: start_t = 0, current_position
= 0, delta = 0 (tachs)
2011-01-04T11:42:02.821554, servo, Move Stall ZERO TACH: Oper0 = 54, Oper1 = 54,
Range = 0 (tachs)
2011-01-04T11:42:02.823788, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:42:02.847178, robot, HW Rev in scanner is 003
2011-01-04T11:42:02.863998, servo, Resetting counts per mil from file info.
2011-01-04T11:42:04.723122, robot, No configuration label!
2011-01-04T11:42:04.724207, robot, Director - not at home- calling general init
routine
2011-01-04T11:42:04.724760, robot-config, cfg_parse_get_dimension succesful: dim
_name = COLUMN_0_TO_3_WRIST, dim_value = 213 (mils)
2011-01-04T11:42:04.725281, robot-config, cfg_parse_get_dimension succesful: dim
_name = PARK_ZONE_TRACK, dim_value = 1400 (mils)
2011-01-04T11:42:04.725982, robot-config, cfg_parse_get_dimension succesful: dim
_name = SAFE_ZONE_TRACK, dim_value = 6500 (mils)
2011-01-04T11:42:04.726495, robot-config, cfg_parse_get_dimension succesful: dim
_name = SAFE_ZONE_Z, dim_value = 6000 (mils)
2011-01-04T11:42:04.733345, servo, servo - operation 0x0011 on track
2011-01-04T11:42:04.733675, robot, mech_move_stall: mech=0, options=0
2011-01-04T11:42:04.734065, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:42:04.735203, servo, srv_mech_build_prof_request(): profile type=0
, mech=0, start=0.000000, end=26.425200, direction=1, end_seg=1, lead_on_decel=0
2011-01-04T11:42:04.736479, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:42:04.737043, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:42:04.739991, servo, *** changing direction, mech=0, dir_bit=0
2011-01-04T11:42:06.789364, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:42:06.789714, servo, srv get_profile_resp: track final pos=4340 ta
chs (4008 mils, 26.473999 rads), distance=3998 mils, srv_status=0, result code=0
2011-01-04T11:42:06.798412, service-metrics, track, Time 0.000386:0.000517:0.000
768(Min:Avg:Max secs), MSI's=0
2011-01-04T11:42:06.798767, servo, Move Stall OK: start_t = 0, current_position
= 4340, delta = 4340 (tachs)
2011-01-04T11:42:06.800368, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:42:06.802689, servo, srv_user_mech_stall() Complete: mech=0, srv_s
tatus=0
2011-01-04T11:42:06.818435, servo, servo - operation 0x0011 on track
2011-01-04T11:42:06.818762, robot, mech_move_stall: mech=0, options=0
2011-01-04T11:42:06.819100, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:42:06.820019, servo, srv_mech_build_prof_request(): profile type=0
, mech=0, start=26.498400, end=13.285800, direction=-1, end_seg=1, lead_on_decel
=0
2011-01-04T11:42:06.820488, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:42:06.821807, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:42:07.993930, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:42:07.994277, servo, srv get_profile_resp: track final pos=2173 ta
chs (2007 mils, 13.255300 rads), distance=1995 mils, srv_status=0, result code=0
2011-01-04T11:42:07.999056, service-metrics, track, Time 0.000412:0.000525:0.000
765(Min:Avg:Max secs), MSI's=0
2011-01-04T11:42:07.999414, servo, Move Stall OK: start_t = 4344, current_positi
on = 2173, delta = 2171 (tachs)
2011-01-04T11:42:08.000253, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:42:08.003207, servo, srv_user_mech_stall() Complete: mech=0, srv_s
tatus=0
2011-01-04T11:42:08.003761, servo, Servo sweep wrist mech
2011-01-04T11:42:08.019239, servo, servo - operation 0x0011 on wrist
2011-01-04T11:42:08.019661, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:42:08.020810, servo, srv_mech_build_prof_request(): profile type=0
, mech=2, start=-0.006100, end=-1830.000000, direction=-1, end_seg=1, lead_on_de
cel=0
2011-01-04T11:42:08.021925, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:42:08.023144, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:42:08.026028, servo, *** changing direction, mech=2, dir_bit=1
2011-01-04T11:42:14.464885, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:42:14.465232, servo, srv get_profile_resp: wrist final pos=0 tachs
(0 mils, 0.000000 rads), distance=14323 mils, srv_status=0, result code=0
2011-01-04T11:42:14.474459, service-metrics, wrist, Time 0.000362:0.000485:0.000
748(Min:Avg:Max secs), MSI's=0
2011-01-04T11:42:14.475729, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:42:14.476070, servo, srv_mech_build_prof_request(): profile type=0
, mech=2, start=0.018300, end=1830.000000, direction=1, end_seg=1, lead_on_decel
=0
2011-01-04T11:42:14.477023, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:42:14.477874, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:42:21.007477, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:42:21.007828, servo, srv get_profile_resp: wrist final pos=21311 t
achs (14571 mils, 129.997101 rads), distance=14568 mils, srv_status=0, result co
de=0
2011-01-04T11:42:21.012977, service-metrics, wrist, Time 0.000367:0.000481:0.000
787(Min:Avg:Max secs), MSI's=0
2011-01-04T11:42:21.013336, servo, Sweep done: operat_pos_0 = 0, operat_pos_1 =
21311 (tachs)
2011-01-04T11:42:21.015219, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:42:21.018763, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:42:21.020021, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:42:21.038732, servo, servo - operation 0x0012 on wrist
2011-01-04T11:42:21.040210, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:42:21.090418, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=129.862900, end=129.997101, direction=1, end_seg=2, lead_on_dece
l=0
2011-01-04T11:42:21.090899, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:42:21.091968, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:42:21.093999, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:42:21.094334, servo, srv get_profile_resp: wrist final pos=21288 t
achs (14555 mils, 129.856796 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:42:21.099262, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:42:21.103005, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:42:21.105133, servo, Servo move wrist mech to 213 (mils)
2011-01-04T11:42:21.105539, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:42:21.128687, servo, servo - operation 0x0012 on wrist
2011-01-04T11:42:21.130192, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:42:21.130662, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=129.850693, end=1.897100, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:42:21.131663, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:42:21.132221, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:42:22.922512, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:42:22.922914, servo, srv get_profile_resp: wrist final pos=336 tac
hs (230 mils, 2.049600 rads), distance=14324 mils, srv_status=0, result code=0
2011-01-04T11:42:22.927895, service-metrics, wrist, Time 0.000287:0.000466:0.000
572(Min:Avg:Max secs), MSI's=0
2011-01-04T11:42:22.930070, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:42:22.931443, servo, Servo sweep track mech
2011-01-04T11:42:22.949540, servo, servo - operation 0x0011 on track
2011-01-04T11:42:22.949906, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:42:22.950245, servo, srv_mech_build_prof_request(): profile type=0
, mech=0, start=13.426100, end=-1830.000000, direction=-1, end_seg=1, lead_on_de
cel=0
2011-01-04T11:42:22.951577, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:42:22.952133, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:42:29.782878, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
chs (1000 mils, 6.624600 rads), distance=4206 mils, srv_status=0, result code=0
2011-01-04T11:42:58.581252, service-metrics, reach, Time 0.000284:0.000436:0.000
546(Min:Avg:Max secs), MSI's=0
2011-01-04T11:42:58.584605, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:42:58.585466, servo, Servo sweep grip mech
2011-01-04T11:42:58.612353, servo, servo - operation 0x0011 on grip
2011-01-04T11:42:58.613659, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:42:58.614267, servo, srv_mech_build_prof_request(): profile type=0
, mech=4, start=0.024400, end=-1830.000000, direction=-1, end_seg=1, lead_on_dec
el=0
2011-01-04T11:42:58.617360, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:42:58.620495, servo, *** changing direction, mech=4, dir_bit=1
2011-01-04T11:42:58.617921, servo, srv_utils_isr_get_response: calling sigwait,
mech=4
2011-01-04T11:42:59.194671, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:42:59.195014, servo, srv get_profile_resp: grip final pos=0 tachs
(0 mils, 0.000000 rads), distance=206 mils, srv_status=0, result code=0
2011-01-04T11:42:59.210665, service-metrics, grip, Time 0.000358:0.000372:0.0006
76(Min:Avg:Max secs), MSI's=0
2011-01-04T11:42:59.211098, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:42:59.212540, servo, srv_mech_build_prof_request(): profile type=0
, mech=4, start=0.006100, end=22.487040, direction=1, end_seg=1, lead_on_decel=0
2011-01-04T11:42:59.213050, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:42:59.216119, servo, srv_utils_isr_get_response: calling sigwait,
mech=4
2011-01-04T11:42:59.613009, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:42:59.613357, servo, srv get_profile_resp: grip final pos=3708 tac
hs (226 mils, 22.618799 rads), distance=223 mils, srv_status=0, result code=0
2011-01-04T11:42:59.621961, service-metrics, grip, Time 0.000327:0.000366:0.0004
50(Min:Avg:Max secs), MSI's=0
2011-01-04T11:42:59.622341, servo, Sweep done: operat_pos_0 = 246, operat_pos_1
= 3462 (tachs)
2011-01-04T11:42:59.625636, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:42:59.627665, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:42:59.654385, servo, servo - operation 0x0012 on grip
2011-01-04T11:42:59.656085, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:42:59.658038, servo, srv_mech_build_prof_request(): profile type=2
, mech=4, start=24.216999, end=21.118200, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:42:59.658512, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:42:59.660168, servo, srv_utils_isr_get_response: calling sigwait,
mech=4
2011-01-04T11:42:59.775178, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:42:59.775525, servo, srv get_profile_resp: grip final pos=3541 tac
hs (216 mils, 21.600100 rads), distance=26 mils, srv_status=0, result code=0
2011-01-04T11:42:59.782960, service-metrics, grip, Time 0.000295:0.000320:0.0003
61(Min:Avg:Max secs), MSI's=0
2011-01-04T11:42:59.786444, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:42:59.789503, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
achs (14205 mils, 126.733597 rads), distance=6967 mils, srv_status=0, result cod
e=0
2011-01-04T11:43:01.427236, service-metrics, wrist, Time 0.000237:0.000403:0.000
526(Min:Avg:Max secs), MSI's=0
2011-01-04T11:43:01.431151, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:02.034809, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:02.035161, servo, srv get_profile_resp: z final pos=8983 tachs
(2079 mils, 28.220993 rads), distance=8014 mils, srv_status=0, result code=0
2011-01-04T11:43:02.042582, service-metrics, z, Time 0.000241:0.000423:0.000525(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:43:02.046118, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:02.058470, servo, servo - operation 0x0012 on track
2011-01-04T11:43:02.060144, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:02.060497, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=42.937901, end=0.378200, direction=-1, end_seg=3, lead_on_decel=
0
2011-01-04T11:43:02.062079, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:02.063899, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:43:03.062776, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:03.063128, servo, srv get_profile_resp: track final pos=105 tac
hs (97 mils, 0.640500 rads), distance=6403 mils, srv_status=0, result code=0
2011-01-04T11:43:03.070550, service-metrics, track, Time 0.000291:0.000455:0.000
769(Min:Avg:Max secs), MSI's=0
2011-01-04T11:43:03.074121, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:03.079502, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 96,2079,14202 (mils)
2011-01-04T11:43:03.140880, robot-cmo, cmo_move_arm_z_scan_req: commanding arm t
o (Z) 3287 (mils)
2011-01-04T11:43:03.142280, servo, srv_user_move_mech_z_scan_req: scanType=3, to
3287 (mils)
2011-01-04T11:43:03.142582, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:03.156675, servo, servo - operation 0x0012 on z
2011-01-04T11:43:03.158388, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:03.158861, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=28.220993, end=44.613861, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:43:03.160405, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:03.162183, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:43:04.027582, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:04.027933, servo, srv get_profile_resp: z final pos=14152 tachs
(3275 mils, 44.459923 rads), distance=1196 mils, srv_status=0, result code=0
2011-01-04T11:43:04.035376, service-metrics, z, Time 0.000240:0.000401:0.000522(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:43:04.038875, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:04.590792, robot-cmo, auditUserMultiScan returned 0 labels
2011-01-04T11:43:04.592121, robot-cmo, cmo_move_arm: commanding arm to (TZW) 58,
2687,14204 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:43:04.592447, robot, srv_user_is_reach_safe: cart present sensor=0
=0
2011-01-04T11:43:14.206370, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:14.208240, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:43:14.222322, servo, servo - operation 0x0012 on wrist
2011-01-04T11:43:14.224262, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:14.225832, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=127.435097, end=127.435097, direction=-1, end_seg=2, lead_on_dec
el=0
2011-01-04T11:43:14.226309, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:14.228155, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:43:14.229876, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:14.231524, servo, srv get_profile_resp: wrist final pos=20891 t
achs (14283 mils, 127.435097 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:43:14.247467, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:43:14.254913, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:14.258730, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:14.865979, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:14.866329, servo, srv get_profile_resp: z final pos=11562 tachs
(2676 mils, 36.323177 rads), distance=599 mils, srv_status=0, result code=0
2011-01-04T11:43:14.874887, service-metrics, z, Time 0.000244:0.000394:0.000720(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:43:14.877336, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:14.880771, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 57,2675,14283 (mils)
2011-01-04T11:43:16.693012, robot, Scan cfg label adjust wrist over by 120
2011-01-04T11:43:16.693271, robot-cmo, Starting scanning of position range
2011-01-04T11:43:16.694644, robot-cmo, cmo_move_arm: commanding arm to (TZW) 58,
2087,14324 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:43:16.694974, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:16.709568, servo, servo - operation 0x0012 on track
2011-01-04T11:43:16.711230, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:16.712830, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=0.378200, end=0.378200, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:43:16.714661, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:16.716786, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:43:16.718559, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:16.720240, servo, srv get_profile_resp: track final pos=62 tach
s (57 mils, 0.378200 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:43:16.734205, servo, servo - operation 0x0012 on z
2011-01-04T11:43:16.738446, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:16.741780, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=36.323177, end=28.327806, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:43:16.745243, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:16.746822, service-metrics, track, Time 0.000000:nan:0.000000(M
0
2011-01-04T11:43:30.629622, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:30.631613, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:43:30.653277, servo, servo - operation 0x0012 on wrist
2011-01-04T11:43:30.655160, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:30.656862, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=126.721397, end=126.721397, direction=-1, end_seg=2, lead_on_dec
el=0
2011-01-04T11:43:30.658606, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:30.660605, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:43:30.662231, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:30.663922, servo, srv get_profile_resp: wrist final pos=20774 t
achs (14203 mils, 126.721397 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:43:30.678293, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:43:30.685852, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:30.691003, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:31.119933, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:31.120282, servo, srv get_profile_resp: z final pos=12170 tachs
(2817 mils, 38.233273 rads), distance=235 mils, srv_status=0, result code=0
2011-01-04T11:43:31.129068, service-metrics, z, Time 0.000240:0.000374:0.000531(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:43:31.132612, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:31.134977, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 56,2816,14203 (mils)
2011-01-04T11:43:32.943491, robot-cmo, cmo_move_arm: commanding arm to (TZW) 58,
2543,14204 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:43:32.944881, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:32.959534, servo, servo - operation 0x0012 on track
2011-01-04T11:43:32.961249, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:32.961719, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=0.372100, end=0.378200, direction=1, end_seg=2, lead_on_decel=0
2011-01-04T11:43:32.963336, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:32.966649, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:43:32.968375, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:32.968929, servo, srv get_profile_resp: track final pos=61 tach
s (56 mils, 0.372100 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:43:32.979804, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:43:32.992328, servo, servo - operation 0x0012 on z
2011-01-04T11:43:32.995727, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:32.997570, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=38.233273, end=34.516758, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:43:32.999245, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:33.001325, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:43:33.023061, servo, servo - operation 0x0012 on wrist
2011-01-04T11:43:33.026257, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:33.026636, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=126.721397, end=126.721397, direction=-1, end_seg=2, lead_on_dec
el=0
2011-01-04T11:43:33.028371, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:33.030246, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:43:33.031988, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:33.033711, servo, srv get_profile_resp: wrist final pos=20774 t
achs (14203 mils, 126.721397 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:43:33.047988, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:43:33.055579, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:33.060680, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:33.502277, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:33.502665, servo, srv get_profile_resp: z final pos=10952 tachs
(2535 mils, 34.406803 rads), distance=282 mils, srv_status=0, result code=0
2011-01-04T11:43:33.511288, service-metrics, z, Time 0.000241:0.000378:0.000521(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:43:33.514894, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:33.518314, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 57,2534,14203 (mils)
2011-01-04T11:43:35.323971, robot-cmo, cmo_move_arm: commanding arm to (TZW) 58,
2879,14204 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:43:35.325357, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:35.340011, servo, servo - operation 0x0012 on track
2011-01-04T11:43:35.341722, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:35.342096, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=0.378200, end=0.378200, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:43:35.343667, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:35.345793, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:43:35.347595, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:35.349298, servo, srv get_profile_resp: track final pos=62 tach
s (57 mils, 0.378200 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:43:35.360174, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:43:35.372733, servo, servo - operation 0x0012 on z
2011-01-04T11:43:35.375993, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:35.377812, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=34.406803, end=39.078362, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:43:35.379471, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:35.381536, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:43:35.403425, servo, servo - operation 0x0012 on wrist
2011-01-04T11:43:35.405316, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:35.407017, servo, srv_mech_build_prof_request(): profile type=2
2011-01-04T11:43:56.436033,
t:
2011-01-04T11:43:56.463649,
t:
2011-01-04T11:43:56.492480,
t:
2011-01-04T11:43:56.522575,
t:
2011-01-04T11:43:56.551718,
t:
2011-01-04T11:43:56.580800,
t:
2011-01-04T11:43:56.610993,
t:
2011-01-04T11:43:56.640047,
t:
2011-01-04T11:43:56.669138,
t:
2011-01-04T11:43:56.699326,
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-cfg-calib, Cfg_calib_target_class(public)::ini
robot-config, Element map description:
2011-01-04T11:43:56.741135, ifm,
dataValid = 0
hostStartAddrs.cell = 0
hostStartAddrs.drive = 0
hostStartAddrs.cap = 0
hostStartAddrs.ptp = 269634556
hostStartAddrs.hand = 0
hostStartAddrs.reserved = 2139092584
2011-01-04T11:43:56.742509, ifm, initReadScsiStartAddrs() - Place 3
2011-01-04T11:43:56.742821, ifm,
dataValid = 0
hostStartAddrs.cell = 0
hostStartAddrs.drive = 0
hostStartAddrs.cap = 0
hostStartAddrs.ptp = 269634556
hostStartAddrs.hand = 0
hostStartAddrs.reserved = 2139092584
2011-01-04T11:43:56.746440, ifm, initReadScsiStartAddrs() - Place 4
2011-01-04T11:43:56.746778, ifm,
dataValid = 0
hostStartAddrs.cell = 1000
hostStartAddrs.drive = 500
hostStartAddrs.cap = 10
hostStartAddrs.ptp = 269634556
hostStartAddrs.hand = 0
hostStartAddrs.reserved = 2139092584
2011-01-04T11:43:56.755420, ifm, Read the Cap file information
2011-01-04T11:43:56.757143, ifm, Ifm Get Cap Config from CAP file.
2011-01-04T11:43:56.786059, robot, DIRECTOR - sending CAP response
2011-01-04T11:43:56.788083, ifm, Module for cap info 1, 2, 3, 4, 5, 6
2011-01-04T11:43:56.803754, ifm, Cap info.installed: 1, 0, 0, 0, 0, 0
2011-01-04T11:43:56.823710, ifm, Cap info.use as cap: 1, 0, 0, 0, 0, 0
2011-01-04T11:43:56.843506, ifm, Initialize the cell data base
2011-01-04T11:43:56.860350, ifm, getKeyedModuleNumber() - LicenseEnabled: 1, Anc
estoryKeySet: 1
2011-01-04T11:43:56.867490, ifm, getKeyedModuleNumber() cell count prep: cell_ac
cum=50, mod_cell_accum=50, module_cell_count=50
2011-01-04T11:43:56.868888, ifm, getKeyedModuleNumber() cell count prep: cell_ac
cum=50, mod_cell_accum=50, module_cell_count=0
2011-01-04T11:43:56.869158, ifm, getKeyedModuleNumber() cell count prep: cell_ac
cum=50, mod_cell_accum=50, module_cell_count=0
2011-01-04T11:43:56.870536, ifm, getKeyedModuleNumber() cell count prep: cell_ac
cum=50, mod_cell_accum=50, module_cell_count=0
2011-01-04T11:43:56.870838, ifm, getKeyedModuleNumber() cell count prep: cell_ac
cum=50, mod_cell_accum=50, module_cell_count=0
2011-01-04T11:43:56.871100, ifm, getKeyedModuleNumber() cell count prep: cell_ac
cum=50, mod_cell_accum=50, module_cell_count=0
2011-01-04T11:43:56.898201, ifm, Using Licenses for Capacity and Partitioning
2011-01-04T11:43:57.026023, Config-License, The following Licenses are stored:
2011-01-04T11:43:57.050940, Config-License, SL500_license_config_99001.lsf, file
date=2009-11-24 13:25
2011-01-04T11:43:57.082122, Config-License, Processing legacy licenses
2011-01-04T11:43:57.132682, Config-License, License checking - LimitedBase exist
s: 99001
2011-01-04T11:43:57.180843, Config-License, License Sequence:99001 with Feature
name:Capacity value:LimitedBase assigned to module:1
2011-01-04T11:43:57.224497, ifm, License Assignment stopped, with module 1 havin
g a partial license
2011-01-04T11:43:57.225866, ifm, Restricted adjustment checking: Restriction=30,
full capacity=50
2011-01-04T11:43:57.228160, ifm, Init: Licenses enabled 1 module(s) with restric
ted setting:30
2011-01-04T11:43:58.869074, ifm, Adjusted element map (1 based) with cfg, & rest
rictions: max_cell=30, reserved=1
2011-01-04T11:43:58.870454, ifm, Physical modules=1, key enabled modules=1
2011-01-04T11:43:58.962952, ifm, module 1, column 1, storage cells 6
2011-01-04T11:43:58.964337, ifm, module 1, column 1, reserved cells 1
2011-01-04T11:43:58.964716, ifm, module 1, column 2, storage cells 7
2011-01-04T11:43:58.966142, ifm, module 1, column 3, storage cells 7
2011-01-04T11:43:58.966465, ifm, module 1, column 4, storage cells 7
2011-01-04T11:43:58.967830, ifm, module 1, column 5, storage cells 3
2011-01-04T11:43:58.968188, ifm, module 1, column 8, cap cells 5
2011-01-04T11:43:58.968490, ifm, module 1, column 9, drives bit map 3
2011-01-04T11:43:58.975412, ifm, InitModifyElemMap(): Updating CAP attributes: c
onfigured_cap==1 first_cap_module_num==1
2011-01-04T11:43:58.986248, ifm, rebuildProcFileSystemModules: Physical represen
tation
2011-01-04T11:43:59.089072, sensor-manager, SensorMgr - STARTED
2011-01-04T11:43:59.091041, ifm, IfmInitThread(): initializing CellDb.
2011-01-04T11:43:59.098069, CommonUtils, PartitionInterface::readPartitionRanges
- No partition range file for currently in use values.
2011-01-04T11:43:59.099601, ifm, readPartitionInfo for current partition info. r
anges = 0
2011-01-04T11:43:59.104962, CommonUtils, PartitionInterface:: partitioning is no
t allowed on this library.
2011-01-04T11:43:59.117919, ifm, CellDbUser::adding drive: 500 at (LMRC) 0,1,1,9
slot 1
2011-01-04T11:43:59.119824, ifm, InitModifyElemMap: set ods drive address for dr
ive (LMRC) 0,1,1,9
2011-01-04T11:43:59.121444, ifm, CellDbUser::adding drive: 501 at (LMRC) 0,1,2,9
slot 2
2011-01-04T11:43:59.123274, ifm, InitModifyElemMap: set ods drive address for dr
ive (LMRC) 0,1,2,9
2011-01-04T11:43:59.130251, ifm, Partition no partition active!!!
2011-01-04T11:43:59.134185, ifm, Drive slot bit mask->0x3
2011-01-04T11:43:59.141546, CommonUtils, PartitionInterface:: partitioning is no
t allowed on this library.
2011-01-04T11:43:59.143060, ifm, Partition not allowed at init.
2011-01-04T11:43:59.166507, ifm, initHost()
2011-01-04T11:43:59.168448, ifm, initHost() - getting vendor
2011-01-04T11:43:59.169862, ifm, initHost() - checking for HP
2011-01-04T11:43:59.170135, ifm, initHost() - STK Library
2011-01-04T11:43:59.174098, ifm, initHost(): sending host init command.
2011-01-04T11:43:59.181353, host, HostInit::executeCommand(): Got the command
2011-01-04T11:43:59.211812, host, HostInit::executeCommand(): sending response
2011-01-04T11:43:59.227838, ifm, Check the configuration:
2011-01-04T11:43:59.231401, ifm, /proc/fpga/system_module/01/spare_in reads ff,
card number is f
2011-01-04T11:43:59.233484, ifm, Audit option set to 2
2011-01-04T11:43:59.242139, ifm, Reporting scanAudit option disabled for LTO mod
ule.
2011-01-04T11:43:59.242553, ifm, Prepare message for mod 1, col 1
2011-01-04T11:43:59.247624, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:43:59.249544, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:43:59.251185, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:43:59.253148, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:43:59.255108, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:43:59.260237, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:43:59.262184, robot, srv_user_hand_cart_state: cart present sensor
=0
2011-01-04T11:43:59.264135, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:59.265651, robot, cmo_eval_op_state_precheck: cmo_status=0, ope
ration=2, code=0, operationalState=0
2011-01-04T11:43:59.267201, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:43:59.267658, robot, srv_user_hand_cart_state: cart present sensor
=0
2011-01-04T11:43:59.269215, robot-config, cfg_user_get_target_cartesian: Nominal
Target Cartesian Requested for address: (LMRC) 0,1,1,1
2011-01-04T11:43:59.269505, robot-config, Cfg_map_config_class::get_column (priv
ate): NON
adjusted track_mil_offset = 198
2011-01-04T11:43:59.270981, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:43:59.271442, robot-config, cfg_user_get_target_cartesian: Calibra
ted Target Cartesian Requested for address: (LMRC) 0,1,1,1
2011-01-04T11:43:59.276656, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: START, addr= (LMRC) 0,1,1,1
2011-01-04T11:43:59.278018, robot-config, Cfg_map_config_class::get_column (priv
ate): NON
adjusted track_mil_offset = 198
2011-01-04T11:43:59.278328, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position nom positions top:bot(TZW)=198,3325,213:0,0,0
2011-01-04T11:43:59.279916, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:43:59.280236, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: Targets Not Calibrated
2011-01-04T11:43:59.280480, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: END, final positions top:bot(TZW)=198,3325,213:0,0,0 (mils
)
2011-01-04T11:43:59.281870, robot-cfg-calib, cfg_calib_user_get_target_cal_posit
ion(): location Not Calibrated for handEmpty, using handFull if available
2011-01-04T11:43:59.282201, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: START, addr= (LMRC) 0,1,1,1
2011-01-04T11:43:59.283707, robot-config, Cfg_map_config_class::get_column (priv
ate): NON
adjusted track_mil_offset = 198
2011-01-04T11:43:59.283993, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position nom positions top:bot(TZW)=198,3325,213:0,0,0
2011-01-04T11:43:59.285537, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:43:59.290903, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: Targets Not Calibrated
2011-01-04T11:43:59.291171, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: END, final positions top:bot(TZW)=198,3325,213:0,0,0 (mils
)
2011-01-04T11:43:59.292524, robot-config, cfg_user_get_target_cartesian: Target
is NOT Calibrated, using Library Cal (Endstop's Target Offsets, if set)
2011-01-04T11:43:59.292851, robot-cfg-calib, Cfg_calib_library_cal_class::get: R
ight Half, Cal'd=1, offsets (TZW)=0,0,-60 (mils)
2011-01-04T11:43:59.296148, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:43:59.298194, robot-cmo, cmo_move_arm: commanding arm to (TZW) 198
tSTAddr[0] = 0x3
firstSTAddr[1] = 0xe8
numSTElements = 0x1e
firstIE
Addr[0] = 0
firstIEAddr[1] = 0xa
numIEElements = 0x5
firstDTAddr[0]
= 0x1
firstDTAddr[1] = 0xf4
numDTElements = 0x2
2011-01-04T11:43:59.945489, scsi-server, SmcUser::SmcUser(lunP) - Done
2011-01-04T11:43:59.956272, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:43:59.956621, servo, srv get_profile_resp: track final pos=2155 ta
chs (1990 mils, 13.145500 rads), distance=1933 mils, srv_status=0, result code=0
2011-01-04T11:43:59.965498, service-metrics, track, Time 0.000282:0.000441:0.000
558(Min:Avg:Max secs), MSI's=0
2011-01-04T11:43:59.969043, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:43:59.981631, servo, servo - operation 0x0012 on z
2011-01-04T11:43:59.983470, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:43:59.985030, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=32.437019, end=45.185631, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:43:59.985514, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:43:59.987207, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:44:00.012708, servo, servo - operation 0x0012 on wrist
2011-01-04T11:44:00.015897, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:00.017639, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=126.715294, end=1.360300, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:44:00.018109, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:00.021357, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:44:00.194592, scsi-engine, ScsiLun::ScsiLun(2) - 0x101e3d30
2011-01-04T11:44:00.217867, scsi-server, LibifSL500DeviceServer::LibifSL500Devic
eServer(deviceServerP)
2011-01-04T11:44:00.232497, scsi-server, SmcUser::SmcUser(lunP)
2011-01-04T11:44:00.236238, scsi-server, SmcUser::initModePages()
2011-01-04T11:44:00.355325, scsi-server, SmcUser::initModePages() - current valu
es:
firstMTAddr[0] = 0
firstMTAddr[1] = 0
numMTElements = 0x1
firs
tSTAddr[0] = 0x3
firstSTAddr[1] = 0xe8
numSTElements = 0
firstIEAdd
r[0] = 0
firstIEAddr[1] = 0xa
numIEElements = 0
firstDTAddr[0] = 0x
1
firstDTAddr[1] = 0xf4
numDTElements = 0
2011-01-04T11:44:00.358647, scsi-server, SmcUser::SmcUser(lunP) - Done
2011-01-04T11:44:00.364278, scsi-engine, ScsiLun::ScsiLun(3) - 0x101e3da0
2011-01-04T11:44:00.387798, scsi-server, LibifSL500DeviceServer::LibifSL500Devic
eServer(deviceServerP)
2011-01-04T11:44:00.403822, scsi-server, SmcUser::SmcUser(lunP)
2011-01-04T11:44:00.407640, scsi-server, SmcUser::initModePages()
2011-01-04T11:44:00.697614, scsi-server, SmcUser::initModePages() - current valu
es:
firstMTAddr[0] = 0
firstMTAddr[1] = 0
numMTElements = 0x1
firs
tSTAddr[0] = 0x3
firstSTAddr[1] = 0xe8
numSTElements = 0
firstIEAdd
r[0] = 0
firstIEAddr[1] = 0xa
numIEElements = 0
firstDTAddr[0] = 0x
1
firstDTAddr[1] = 0xf4
numDTElements = 0
2011-01-04T11:44:00.699467, scsi-server, SmcUser::SmcUser(lunP) - Done
2011-01-04T11:44:00.703412, scsi-engine, ScsiLun::ScsiLun(4) - 0x101e3e10
2011-01-04T11:44:00.719372, scsi-server, LibifSL500DeviceServer::LibifSL500Devic
eServer(deviceServerP)
2011-01-04T11:44:00.771560, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:00.771909, servo, srv get_profile_resp: z final pos=14331 tachs
1
firstDTAddr[1] = 0xf4
numDTElements = 0
2011-01-04T11:44:01.366681, scsi-server, SmcUser::SmcUser(lunP) - Done
2011-01-04T11:44:01.370537, scsi-engine, ScsiDevice::modifyLuns(numValidLuns = 1
, validLuns = 0x7ffff6f8) 0x101e4a08 - validLuns[0] = 0
2011-01-04T11:44:01.372241, scsi-engine, ScsiDevice::modifyLuns() - _luns[0] = 0
x101e3cc0
2011-01-04T11:44:01.384738, scsi-server, LibifSL500DeviceServer::LibifSL500Devic
eServer(deviceServerP)
2011-01-04T11:44:01.394037, scsi-server, SmcUser::SmcUser(lunP)
2011-01-04T11:44:01.397401, scsi-server, SmcUser::initModePages()
2011-01-04T11:44:01.478614, scsi-server, SmcUser::initModePages() - current valu
es:
firstMTAddr[0] = 0
firstMTAddr[1] = 0
numMTElements = 0x1
firs
tSTAddr[0] = 0x3
firstSTAddr[1] = 0xe8
numSTElements = 0x1e
firstIE
Addr[0] = 0
firstIEAddr[1] = 0xa
numIEElements = 0x5
firstDTAddr[0]
= 0x1
firstDTAddr[1] = 0xf4
numDTElements = 0x2
2011-01-04T11:44:01.480298, scsi-server, SmcUser::SmcUser(lunP) - Done
2011-01-04T11:44:01.514488, scsi-engine, ScsiDevice::startPorts() 0x101e4a08
2011-01-04T11:44:01.795610, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:01.795962, servo, srv get_profile_resp: wrist final pos=258 tac
hs (176 mils, 1.573800 rads), distance=14026 mils, srv_status=0, result code=0
2011-01-04T11:44:01.804682, service-metrics, wrist, Time 0.000241:0.000418:0.000
717(Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:01.807102, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:01.819265, servo, servo - operation 0x0012 on track
2011-01-04T11:44:01.820925, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:01.821393, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=13.279699, end=1.305400, direction=-1, end_seg=2, lead_on_decel=
0
2011-01-04T11:44:01.823030, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:01.824937, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:44:02.394419, scsi-engine, ScsiPort::activate() - ok through confi
gure
2011-01-04T11:44:02.399954, scsi-engine, ScsiDevice::startPorts() 0x101e4a08 - /
dev/scsi_tgt0 activate status = 6
2011-01-04T11:44:02.401486, scsi-engine, ScsiDevice::startPorts() 0x101e4a08 - /
dev/scsi_tgt0 PRESENT
2011-01-04T11:44:02.401980, scsi-engine, ScsiDevice::startPorts() 0x101e4a08 - D
one, numPorts = 1
2011-01-04T11:44:02.426959, host, HostInit::executeCommand(): Exiting command
2011-01-04T11:44:02.437718, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:02.438067, servo, srv get_profile_resp: track final pos=226 tac
hs (209 mils, 1.378600 rads), distance=1802 mils, srv_status=0, result code=0
2011-01-04T11:44:02.446894, service-metrics, track, Time 0.000301:0.000440:0.000
558(Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:02.450382, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:02.455576, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 209,3316,158 (mils)
2011-01-04T11:44:02.457822, sys, sys_cpuinfo_get_cpu_clock: sys_cpuinfo_clock_fr
eq=198000000Hz
2011-01-04T11:44:02.658037, robot, scanUserTarget: Returning target bars=11, ret
urnVal=0, code=0, targetReadTime=0.198384
2011-01-04T11:44:02.847462, robot, scanUserTarget: Returning target bars=11, ret
urnVal=6, code=5416, targetReadTime=0.168100
ffffff
2011-01-04T11:44:04.416546, scsi-engine, ScsiValidTask::startCommandComplete() 0
x101eb7a8 - status = 0
2011-01-04T11:44:04.441344, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:04.454330, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:04.459574, scsi-engine, Task received 0x101e2c80: cdb = 0x12
0 0 0 0x24 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0x2 0x150100 0-0 0/100000
00c953a7ef p=0
2011-01-04T11:44:04.463155, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x101e2c80
2011-01-04T11:44:04.465145, scsi-server, SmcInquiry::initializeData()
2011-01-04T11:44:04.484746, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:04.493987, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:04.522487, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:04.529466, scsi-engine, Task received 0x10205950: cdb = 0xa0
0 0 0 0 0 0 0 0 0x10 0 0 0 0 0 0/ nexus = 0x5 0x150100 0-0 0/500110
a00018c1fa p=0
2011-01-04T11:44:04.538856, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10205950
2011-01-04T11:44:04.551867, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:04.562269, robot, scanUserTarget: Returning target bars=11, ret
urnVal=0, code=0, targetReadTime=0.187411
2011-01-04T11:44:04.591084, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:04.616286, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:04.621611, scsi-engine, Task received 0x10205b00: cdb = 0xa0
0 0 0 0 0 0 0 0 0x10 0 0 0 0 0 0/ nexus = 0x6 0x150100 0-0 0/500143
8001339df2 p=0
2011-01-04T11:44:04.630762, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10205b00
2011-01-04T11:44:04.648739, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:04.658071, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:04.672126, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:04.677457, scsi-engine, Task received 0x10205d18: cdb = 0xa0
0 0 0 0 0 0 0 0 0x10 0 0 0 0 0 0/ nexus = 0x7 0x150100 0-0 0/500143
8001339e1a p=0
2011-01-04T11:44:04.686732, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10205d18
2011-01-04T11:44:04.697432, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:04.721240, scsi-engine, ScsiValidTask::startCommandComplete() 0
x10205500 - status = 0
2011-01-04T11:44:04.728378, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:04.745951, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:04.750157, scsi-engine, Task received 0x10205f30: cdb = 0xa0
0 0 0 0 0 0 0 0 0x10 0 0 0 0 0 0/ nexus = 0x8 0x150100 0-0 0/210000
e08b9cddb9 p=0
2011-01-04T11:44:04.764299, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10205f30
2011-01-04T11:44:04.774858, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:04.791464, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:04.804339, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:04.809629, scsi-engine, Task received 0x101eb7a8: cdb = 0x12
0 0 0 0x24 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0x3 0x150100 0-0 0/100000
00c953a814 p=0
2011-01-04T11:44:04.813127, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x101eb7a8
2011-01-04T11:44:04.815018, scsi-server, SmcInquiry::initializeData()
2011-01-04T11:44:04.834708, robot, scanUserTarget: Returning target bars=11, ret
urnVal=0, code=0, targetReadTime=0.254225
2011-01-04T11:44:04.861872, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:04.888850, scsi-engine, ScsiValidTask::startCommandComplete() 0
x101e2c80 - status = 0
2011-01-04T11:44:04.896080, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:04.910184, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:04.915494, scsi-engine, Task received 0x10206398: cdb = 0xa0
0 0 0 0 0 0 0 0 0x10 0 0 0 0 0 0/ nexus = 0x9 0x150100 0-0 0/100000
00c935ce63 p=0
2011-01-04T11:44:04.932256, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10206398
2011-01-04T11:44:04.944358, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:04.955502, scsi-engine, ScsiValidTask::startCommandComplete() 0
x10205950 - status = 0
2011-01-04T11:44:04.962782, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:04.977023, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:04.998388, scsi-engine, Task received 0x10207da0: cdb = 0xa0
0 0 0 0 0 0 0 0 0x10 0 0 0 0 0 0/ nexus = 0x1 0x150100 0-0 0/100000
00c9520fe1 p=0
2011-01-04T11:44:05.007650, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10207da0
2011-01-04T11:44:05.018374, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:05.033215, scsi-engine, ScsiValidTask::startCommandComplete() 0
x10205b00 - status = 0
2011-01-04T11:44:05.047566, robot, scanUserTarget: Returning target bars=9, retu
rnVal=0, code=0, targetReadTime=0.192968
2011-01-04T11:44:05.066896, robot-cmo, cmo_move_arm: commanding arm to (TZW) 198
,3279,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:44:05.067464, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:05.083532, servo, servo - operation 0x0012 on track
2011-01-04T11:44:05.085236, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:05.086817, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=1.299300, end=1.305400, direction=1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:05.087252, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:05.088866, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:44:05.090579, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:05.090915, servo, srv get_profile_resp: track final pos=213 tac
hs (197 mils, 1.299300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:05.101763, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:05.112624, servo, servo - operation 0x0012 on z
2011-01-04T11:44:05.123529, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:05.128291, servo, srv_mech_build_prof_request(): profile type=2
ED
2011-01-04T11:44:08.051862, scsi-engine, Task received 0x10208190: cdb = 0x12
0 0 0 0x44 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0xa 0x150100 0-0 0/100000
00c95c0b22 p=0
2011-01-04T11:44:08.057397, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10208190
2011-01-04T11:44:08.060847, scsi-server, SmcInquiry::initializeData()
2011-01-04T11:44:08.091862, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:08.120780, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:08.140361, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:08.147588, scsi-engine, Task received 0x10206398: cdb = 0x12 0
x1 0 0 0xff 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0x5 0x150100 0-0 0/50011
0a00018c1fa p=0
2011-01-04T11:44:08.165424, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10206398
2011-01-04T11:44:08.167659, scsi-server, SmcInquiry::initializeData()
2011-01-04T11:44:08.199964, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:08.225143, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:08.239218, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:08.243415, scsi-engine, Task received 0x10205f30: cdb = 0x12 0
x1 0 0 0xff 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0x8 0x150100 0-0 0/21000
0e08b9cddb9 p=0
2011-01-04T11:44:08.248311, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10205f30
2011-01-04T11:44:08.250370, scsi-server, SmcInquiry::initializeData()
2011-01-04T11:44:08.273589, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:08.293698, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:08.307819, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:08.313095, scsi-engine, Task received 0x101eb8a0: cdb = 0x12 0
x1 0x83 0 0xff 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0x1 0x150100 0-0 0/100
00000c9520fe1 p=0
2011-01-04T11:44:08.316961, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x101eb8a0
2011-01-04T11:44:08.319025, scsi-server, SmcInquiry::initializeData()
2011-01-04T11:44:08.345636, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:08.365768, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:08.370871, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:08.371222, servo, srv get_profile_resp: z final pos=13906 tachs
(3218 mils, 43.687088 rads), distance=198 mils, srv_status=0, result code=0
2011-01-04T11:44:08.379943, service-metrics, z, Time 0.000245:0.000374:0.000518(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:08.383539, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:08.385879, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 198,3218,152 (mils)
2011-01-04T11:44:08.416502, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:08.421501, scsi-engine, Task received 0x10207da0: cdb = 0x12 0
x1 0 0 0xff 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0x6 0x150100 0-0 0/50014
38001339df2 p=0
2011-01-04T11:44:08.425119, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10207da0
2011-01-04T11:44:09.624603,
, reach safe sensor=1
2011-01-04T11:44:09.628232,
, reach safe sensor=1
2011-01-04T11:44:09.657064,
2011-01-04T11:44:09.675288,
ED
2011-01-04T11:44:09.682360,
x1 0x80 0 0xff 0 0 0 0
110a00018c1fa p=0
2011-01-04T11:44:09.687886,
ask = 0x10205f30
2011-01-04T11:44:09.691373,
2011-01-04T11:44:09.718585,
4?
scsi-engine, ScsiTask::setStatusAndSense()errCode =
scsi-engine, ScsiTask::create():lun = 0
scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
scsi-engine, Task received 0x10205d18: cdb = 0x12 0
0 0 0 0 0 0 0/ nexus = 0x8 0x150100 0-0 0/210
scsi-server, SmcUser::executeCommand() - executing t
scsi-server, SmcInquiry::initializeData()
scsi-engine, Copied root serial number = 55900010120
scsi-engine, stringStreamSize = 1
scsi-engine, Modified serial number = 559000101204
scsi-engine, ScsiTask::setStatusAndSense()errCode =
scsi-engine, ScsiTask::create():lun = 0
scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
scsi-engine, Task received 0x10206398: cdb = 0x12 0
0 0 0 0 0 0 0/ nexus = 0x6 0x150100 0-0 0/500
scsi-server, SmcUser::executeCommand() - executing t
scsi-server, SmcInquiry::initializeData()
scsi-engine, Copied root serial number = 55900010120
scsi-engine, stringStreamSize = 1
scsi-engine, Modified serial number = 559000101204
scsi-engine, ScsiTask::setStatusAndSense()errCode =
scsi-engine, ScsiValidTask::startCommandComplete() 0
scsi-engine, ScsiValidTask::startCommandComplete() 0
scsi-engine, ScsiValidTask::startCommandComplete() 0
scsi-engine, ScsiTask::create():lun = 0
scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
000e08b9cddb9 p=0
2011-01-04T11:44:12.544144, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10205d18
2011-01-04T11:44:12.546208, scsi-server, SmcInquiry::initializeData()
2011-01-04T11:44:12.580566, scsi-engine, Copied root serial number = 55900010120
4
2011-01-04T11:44:12.582371, scsi-engine, stringStreamSize = 1
2011-01-04T11:44:12.584003, scsi-engine, Modified serial number = 559000101204
2011-01-04T11:44:12.589484, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:12.613009, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:12.630623, robot, scanUserTarget: Returning target bars=9, retu
rnVal=0, code=0, targetReadTime=0.189318
2011-01-04T11:44:12.653991, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:12.659221, scsi-engine, Task received 0x10207e98: cdb = 0x12 0
x1 0x80 0 0xff 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0x6 0x150100 0-0 0/500
1438001339df2 p=0
2011-01-04T11:44:12.663123, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10207e98
2011-01-04T11:44:12.677466, scsi-server, SmcInquiry::initializeData()
2011-01-04T11:44:12.697424, scsi-engine, Copied root serial number = 55900010120
4
2011-01-04T11:44:12.699162, scsi-engine, stringStreamSize = 1
2011-01-04T11:44:12.699467, scsi-engine, Modified serial number = 559000101204
2011-01-04T11:44:12.706180, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:12.730129, scsi-engine, ScsiTask::create():lun = 2
2011-01-04T11:44:12.737188, scsi-engine, ScsiDevice::getLun() - using bad lun
2011-01-04T11:44:12.742827, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:12.744436, scsi-engine, ScsiTask::create():virtual lun NOT VALI
D= 2
2011-01-04T11:44:12.749604, scsi-engine, Task received 0x101e2c80: cdb = 0x12 0
x40 0 0 0x24 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0x9 0x150100 2-2 0/1000
0000c935ce63 p=0
2011-01-04T11:44:12.753402, scsi-engine, ScsiBadLunTask::execute()
2011-01-04T11:44:12.755009, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x101e2c80
2011-01-04T11:44:12.756981, scsi-server, SmcInquiry::initializeData()
2011-01-04T11:44:12.805566, scsi-engine, ScsiValidTask::startCommandComplete() 0
x10205f30 - status = 0
2011-01-04T11:44:12.818161, scsi-engine, ScsiValidTask::startCommandComplete() 0
x101eb8a0 - status = 0
2011-01-04T11:44:12.828737, robot, scanUserTarget: Returning target bars=7, retu
rnVal=0, code=0, targetReadTime=0.182298
2011-01-04T11:44:12.854682, scsi-engine, ScsiTask::create():lun = 4
2011-01-04T11:44:12.875719, scsi-engine, ScsiDevice::getLun() - using bad lun
2011-01-04T11:44:12.881303, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:12.882870, scsi-engine, ScsiTask::create():virtual lun NOT VALI
D= 4
2011-01-04T11:44:12.886999, scsi-engine, Task received 0x102055f8: cdb = 0x12 0
x80 0 0 0x24 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0x4 0x150100 4-4 0/1000
0000c935cdb3 p=0
2011-01-04T11:44:12.890745, scsi-engine, ScsiBadLunTask::execute()
2011-01-04T11:44:12.892371, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x102055f8
2011-01-04T11:44:12.894373, scsi-server, SmcInquiry::initializeData()
2011-01-04T11:44:12.937571, scsi-engine, ScsiValidTask::startCommandComplete() 0
x10205d18 - status = 0
2011-01-04T11:44:12.947851, scsi-engine, ScsiValidTask::startCommandComplete() 0
x10207e98 - status = 0
2011-01-04T11:44:12.955530, scsi-engine, ScsiBadLunTask::startCommandComplete()
0x101e2c80 - status = 0
2011-01-04T11:44:12.996545, scsi-engine, ScsiTask::create():lun = 0
2011-01-04T11:44:13.013254, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:13.018500, scsi-engine, Task received 0x10205f30: cdb = 0x12 0
x1 0x80 0 0xff 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0x7 0x150100 0-0 0/500
1438001339e1a p=0
2011-01-04T11:44:13.029256, robot, scanUserTarget: Returning target bars=4, retu
rnVal=0, code=0, targetReadTime=0.189232
2011-01-04T11:44:13.022348, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10205f30
2011-01-04T11:44:13.047553, scsi-server, SmcInquiry::initializeData()
2011-01-04T11:44:13.081660, scsi-engine, Copied root serial number = 55900010120
4
2011-01-04T11:44:13.083534, scsi-engine, stringStreamSize = 1
2011-01-04T11:44:13.085085, scsi-engine, Modified serial number = 559000101204
2011-01-04T11:44:13.090613, scsi-engine, ScsiTask::setStatusAndSense()errCode =
ffffff
2011-01-04T11:44:13.103220, scsi-engine, ScsiBadLunTask::startCommandComplete()
0x102055f8 - status = 0
2011-01-04T11:44:13.144425, scsi-engine, ScsiTask::create():lun = 3
2011-01-04T11:44:13.150319, scsi-engine, ScsiDevice::getLun() - using bad lun
2011-01-04T11:44:13.156972, scsi-engine, ScsiTask::create(): SCSI, NOT PARTITION
ED
2011-01-04T11:44:13.157449, scsi-engine, ScsiTask::create():virtual lun NOT VALI
D= 3
2011-01-04T11:44:13.177098, scsi-engine, Task received 0x10207e98: cdb = 0x12 0
x60 0 0 0x24 0 0 0 0 0 0 0 0 0 0 0/ nexus = 0x9 0x150100 3-3 0/1000
0000c935ce63 p=0
2011-01-04T11:44:13.180691, scsi-engine, ScsiBadLunTask::execute()
2011-01-04T11:44:13.180958, scsi-server, SmcUser::executeCommand() - executing t
ask = 0x10207e98
2011-01-04T11:44:13.182870, scsi-server, SmcInquiry::initializeData()
2011-01-04T11:44:13.229646, robot, scanUserTarget: Returning target bars=4, retu
rnVal=0, code=0, targetReadTime=0.189650
2011-01-04T11:44:13.240537, robot-cmo, cmo_move_arm: commanding arm to (TZW) 198
,3529,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:44:13.242171, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:13.258173, servo, servo - operation 0x0012 on track
2011-01-04T11:44:13.259884, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:13.260259, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=1.305400, end=1.305400, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:13.261723, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:13.263590, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:44:13.263967, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:13.265477, servo, srv get_profile_resp: track final pos=214 tac
hs (198 mils, 1.305400 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:13.276305, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:13.290591, servo, servo - operation 0x0012 on z
2011-01-04T11:44:13.292303, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:13.292822, servo, srv_mech_build_prof_request(): profile type=2
RC) 0,1,1,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:18.127413, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,1,1 -> top TZW=93,-217,-61, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:18.129065, robot, cmo_eval_op_state START: cmo_status=0, operat
ion=3, code=0, operationalState=0
2011-01-04T11:44:18.129547, robot, cmo_eval_op_state checking to see if cart pre
sent will be over-ridden by grip position
2011-01-04T11:44:18.131124, robot, cmo_eval_op_state sensor read - Reach Safe:1,
Cartridge Present:0
2011-01-04T11:44:18.132847, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:18.133180, robot, cmo_eval_op_state END: cmo_status=0, operatio
n=3, code=0, operationalState=0
2011-01-04T11:44:18.134698, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,2,1 -> calibrated=1, retarget=0, top TZW=36,-278,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:44:18.136325, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,3,1 -> calibrated=1, retarget=0, top TZW=36,-278,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:44:18.136812, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:18.138253, robot, srv_user_hand_cart_state: cart present sensor
=0
2011-01-04T11:44:18.138589, robot-config, cfg_user_get_target_cartesian: Nominal
Target Cartesian Requested for address: (LMRC) 0,1,4,1
2011-01-04T11:44:18.140038, robot-config, Cfg_map_config_class::get_column (priv
ate): NON
adjusted track_mil_offset = 198
2011-01-04T11:44:18.140385, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:44:18.141819, robot-config, cfg_user_get_target_cartesian: Calibra
ted Target Cartesian Requested for address: (LMRC) 0,1,4,1
2011-01-04T11:44:18.142141, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: START, addr= (LMRC) 0,1,4,1
2011-01-04T11:44:18.143657, robot-config, Cfg_map_config_class::get_column (priv
ate): NON
adjusted track_mil_offset = 198
2011-01-04T11:44:18.147651, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position nom positions top:bot(TZW)=198,8880,213:0,0,0
2011-01-04T11:44:18.149175, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:18.150588, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: Targets Not Calibrated
2011-01-04T11:44:18.150869, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: END, final positions top:bot(TZW)=198,8880,213:0,0,0 (mils
)
2011-01-04T11:44:18.151135, robot-cfg-calib, cfg_calib_user_get_target_cal_posit
ion(): location Not Calibrated for handEmpty, using handFull if available
2011-01-04T11:44:18.152536, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: START, addr= (LMRC) 0,1,4,1
2011-01-04T11:44:18.152885, robot-config, Cfg_map_config_class::get_column (priv
ate): NON
adjusted track_mil_offset = 198
2011-01-04T11:44:18.156357, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position nom positions top:bot(TZW)=198,8880,213:0,0,0
2011-01-04T11:44:18.158308, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:18.159677, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: Targets Not Calibrated
2011-01-04T11:44:18.159940, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: END, final positions top:bot(TZW)=198,8880,213:0,0,0 (mils
)
2011-01-04T11:44:18.160209, robot-config, cfg_user_get_target_cartesian: Target
W) 197,8917,152 (mils)
2011-01-04T11:44:21.133880, robot, scanUserTarget: Returning target bars=0, retu
rnVal=6, code=5416, targetReadTime=0.182021
2011-01-04T11:44:21.333911, robot, scanUserTarget: Returning target bars=0, retu
rnVal=6, code=5416, targetReadTime=0.196448
2011-01-04T11:44:21.539485, robot, scanUserTarget: Returning target bars=7, retu
rnVal=0, code=0, targetReadTime=0.201970
2011-01-04T11:44:21.552433, robot-cmo, cmo_move_arm: commanding arm to (TZW) 198
,8834,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:44:21.554108, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:21.570062, servo, servo - operation 0x0012 on track
2011-01-04T11:44:21.571727, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:21.572194, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=1.299300, end=1.305400, direction=1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:21.573855, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:21.575457, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:44:21.577203, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:21.577534, servo, srv get_profile_resp: track final pos=213 tac
hs (197 mils, 1.299300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:21.588152, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:21.600669, servo, servo - operation 0x0012 on z
2011-01-04T11:44:21.602810, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:21.604604, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=121.048988, end=119.908585, direction=-1, end_seg=2, lead_on_dec
el=0
2011-01-04T11:44:21.606373, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:21.608286, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:44:21.622489, servo, servo - operation 0x0012 on wrist
2011-01-04T11:44:21.624470, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:21.626078, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:21.627790, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:21.629746, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:44:21.631403, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:21.631738, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:21.647826, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:21.656717, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:21.660617, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:21.963131, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:21.963479, servo, srv get_profile_resp: z final pos=38134 tachs
(8826 mils, 119.801773 rads), distance=92 mils, srv_status=0, result code=0
2011-01-04T11:44:21.972176, service-metrics, z, Time 0.000241:0.000353:0.000507(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:21.975749, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.169515, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,4,1 -> top TZW=115,-229,-60, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.171309, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.173006, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,4,1 -> top TZW=115,-229,-60, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.174869, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.176521, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,4,1 -> top TZW=115,-229,-60, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.183724, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.184326, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,4,1 -> top TZW=10,14,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.187291, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.187891, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,4,1 -> top TZW=101,-243,-61, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.189731, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,1 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.191499, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,4,1 -> top TZW=110,-243,-61, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:31.193241, robot, cmo_eval_op_state START: cmo_status=0, operat
ion=3, code=0, operationalState=0
2011-01-04T11:44:31.194836, robot, cmo_eval_op_state checking to see if cart pre
sent will be over-ridden by grip position
2011-01-04T11:44:31.196467, robot, cmo_eval_op_state sensor read - Reach Safe:1,
Cartridge Present:0
2011-01-04T11:44:31.198069, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:31.198642, robot, cmo_eval_op_state END: cmo_status=0, operatio
n=3, code=0, operationalState=0
2011-01-04T11:44:31.200436, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,5,1 -> calibrated=1, retarget=0, top TZW=115,-229,-60, bottom TZW=0,0,0
(mils)
2011-01-04T11:44:31.202202, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,6,1 -> calibrated=1, retarget=0, top TZW=115,-229,-60, bottom TZW=0,0,0
(mils)
2011-01-04T11:44:31.204126, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,7,1 -> calibrated=1, retarget=0, top TZW=115,-229,-60, bottom TZW=0,0,0
(mils)
2011-01-04T11:44:31.205808, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:44:31.207699, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,1 -> calibrated=1, retarget=0, top TZW=36,-278,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:44:31.209394, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,1,1, targ offsets (sign co
rrected) top:bot(TZW)=36,-278,-60:0,0,0 (mils)
2011-01-04T11:44:31.211064, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:44:31.212622, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=198,3170,213 cal positions(TZW)=234,2
892,153 (mils)
2011-01-04T11:44:31.221783, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:44:31.387902, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_START_OFFSET_Z, dim_value = -780 (mils)
2011-01-04T11:44:31.409694, robot-cmo, cmo_move_arm: commanding arm to (TZW) 234
132,153 (mils)
2011-01-04T11:44:34.680693, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:44:34.682323, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_START_OFFSET_Z, dim_value = -780 (mils)
2011-01-04T11:44:34.682887, robot-cmo, cmo_move_arm: commanding arm to (TZW) 234
,3356,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:44:34.684545, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:34.700549, servo, servo - operation 0x0012 on track
2011-01-04T11:44:34.702222, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:34.702744, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=1.549400, end=1.543300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:34.704315, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:34.706073, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:44:34.706418, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:34.707987, servo, srv get_profile_resp: track final pos=254 tac
hs (235 mils, 1.549400 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:34.718873, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:34.731366, servo, servo - operation 0x0012 on z
2011-01-04T11:44:34.734654, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:34.736500, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=39.153759, end=45.553200, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:44:34.738176, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:34.740247, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:44:34.752987, servo, servo - operation 0x0012 on wrist
2011-01-04T11:44:34.754922, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:34.756526, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:34.758246, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:34.760184, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:44:34.761855, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:34.763711, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:34.778085, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:34.787065, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:34.792608, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:35.344213, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:35.344562, servo, srv get_profile_resp: z final pos=14453 tachs
(3345 mils, 45.408684 rads), distance=461 mils, srv_status=0, result code=0
2011-01-04T11:44:35.353278, service-metrics, z, Time 0.000241:0.000388:0.000716(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:35.356823, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:35.362312, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 235,3345,152 (mils)
(mils)
2011-01-04T11:44:45.295564, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,7,1, targ offsets (sign co
rrected) top:bot(TZW)=115,-229,-60:0,0,0 (mils)
2011-01-04T11:44:45.297102, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:44:45.297507, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=198,9965,213 cal positions(TZW)=313,9
736,153 (mils)
2011-01-04T11:44:45.299056, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:44:45.299500, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_END_OFFSET_Z, dim_value = 0 (mils)
2011-01-04T11:44:45.301064, robot-cmo, cmo_move_arm_z_scan_req: commanding arm t
o (Z) 9740 (mils)
2011-01-04T11:44:45.302611, servo, srv_user_move_mech_z_scan_req: scanType=3, to
9740 (mils)
2011-01-04T11:44:45.304450, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:45.317081, servo, servo - operation 0x0012 on z
2011-01-04T11:44:45.319276, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:45.321060, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=121.447968, end=132.207947, direction=1, end_seg=2, lead_on_dece
l=0
2011-01-04T11:44:45.322962, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:45.326277, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:44:46.059964, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:46.060314, servo, srv get_profile_resp: z final pos=42017 tachs
(9725 mils, 132.000610 rads), distance=777 mils, srv_status=0, result code=0
2011-01-04T11:44:46.069182, service-metrics, z, Time 0.000243:0.000397:0.000538(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:46.072735, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:46.643022, robot, label=000145L3, cart detect=1
2011-01-04T11:44:46.644772, robot, cmo_eval_op_state START: cmo_status=0, operat
ion=2, code=0, operationalState=0
2011-01-04T11:44:46.646216, robot, cmo_eval_op_state checking to see if cart pre
sent will be over-ridden by grip position
2011-01-04T11:44:46.646505, robot, cmo_eval_op_state sensor read - Reach Safe:1,
Cartridge Present:0
2011-01-04T11:44:46.647906, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:46.648223, robot, cmo_eval_op_state END: cmo_status=0, operatio
n=2, code=0, operationalState=0
2011-01-04T11:44:46.649750, robot, directorUserAuditData: Addr: (LMRC) 0,1,7,1,
Label:000145L3, Present:1, Upside Down:0, Magazine Absent:0
2011-01-04T11:44:46.650040, robot,
Last chunk=true
2011-01-04T11:44:46.675442, ifm, Audit response type DIRCT_MSG_AUDIT_RESP
2011-01-04T11:44:46.676816, ifm, Audit response was successfull
2011-01-04T11:44:46.697080, ifm, Audit response type DIRCT_MSG_AUDIT_RESP
2011-01-04T11:44:46.698460, ifm, Audit response was successfull
2011-01-04T11:44:46.716783, ifm, Audit response type DIRCT_MSG_AUDIT_RESP
2011-01-04T11:44:46.718203, ifm, Audit response was successfull
2011-01-04T11:44:46.736810, ifm, Audit response type DIRCT_MSG_AUDIT_RESP
2011-01-04T11:44:46.738177, ifm, Audit response was successfull
2011-01-04T11:44:46.757929, ifm, Audit response type DIRCT_MSG_AUDIT_RESP
2011-01-04T11:44:46.758459, ifm, Audit response was successfull
mech=0
2011-01-04T11:44:56.121422, servo, servo - operation 0x0012 on z
2011-01-04T11:44:56.123353, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:56.124948, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=42.989655, end=42.402176, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:44:56.126623, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:56.128422, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:44:56.155634, servo, servo - operation 0x0012 on wrist
2011-01-04T11:44:56.157617, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:56.159426, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:56.161198, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:56.164695, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:44:56.166495, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:56.168136, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:56.184760, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:56.195455, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:56.371778, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:56.372127, servo, srv get_profile_resp: track final pos=5119 ta
chs (4727 mils, 31.225899 rads), distance=60 mils, srv_status=0, result code=0
2011-01-04T11:44:56.380992, service-metrics, track, Time 0.000284:0.000369:0.000
556(Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:56.384567, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:56.431346, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:56.431694, servo, srv get_profile_resp: z final pos=13463 tachs
(3116 mils, 42.295361 rads), distance=51 mils, srv_status=0, result code=0
2011-01-04T11:44:56.440479, service-metrics, z, Time 0.000243:0.000340:0.000526(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:56.466062, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:56.473383, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 4727,3115,152 (mils)
2011-01-04T11:44:56.667852, robot, scanUserTarget: Returning target bars=11, ret
urnVal=0, code=0, targetReadTime=0.191158
2011-01-04T11:44:56.713219, robot-cfg-calib, cmo_target target found: Scanner Ho
rizontal Offset=7 (-left/+right)MILS, Vertical Offset=7 (-up/+down)MILS
2011-01-04T11:44:56.716695, robot-cfg-calib, Cfg_calib_library_cal_class::get: R
ight Half, Cal'd=1, offsets (TZW)=0,0,-60 (mils)
2011-01-04T11:44:56.718028, robot-cfg-calib, cmo_target: Applying Library Calibr
ation offset to Wrist
2011-01-04T11:44:56.721953, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,2 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:56.725590, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,2 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:56.727206, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,2 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:56.727564, robot, Cfg_calib_target_class(public)::set: addr (LM
RC) 0,1,1,2 -> top TZW=66,-207,-60, bottom TZW=0,0,0 (mils)
mils)
2011-01-04T11:44:56.790100, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,3,2 -> calibrated=1, retarget=0, top TZW=66,-207,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:44:56.791947, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,2 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:56.792536, robot, srv_user_hand_cart_state: cart present sensor
=0
2011-01-04T11:44:56.794215, robot-config, cfg_user_get_target_cartesian: Nominal
Target Cartesian Requested for address: (LMRC) 0,1,4,2
2011-01-04T11:44:56.795854, robot-config, Cfg_map_config_class::get_column (priv
ate): NON
adjusted track_mil_offset = 4668
2011-01-04T11:44:56.797503, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:44:56.799213, robot-config, cfg_user_get_target_cartesian: Calibra
ted Target Cartesian Requested for address: (LMRC) 0,1,4,2
2011-01-04T11:44:56.799783, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: START, addr= (LMRC) 0,1,4,2
2011-01-04T11:44:56.801397, robot-config, Cfg_map_config_class::get_column (priv
ate): NON
adjusted track_mil_offset = 4668
2011-01-04T11:44:56.803079, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position nom positions top:bot(TZW)=4668,8880,213:0,0,0
2011-01-04T11:44:56.804845, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,2 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:56.806490, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: Targets Not Calibrated
2011-01-04T11:44:56.806975, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: END, final positions top:bot(TZW)=4668,8880,213:0,0,0 (mil
s)
2011-01-04T11:44:56.808556, robot-cfg-calib, cfg_calib_user_get_target_cal_posit
ion(): location Not Calibrated for handEmpty, using handFull if available
2011-01-04T11:44:56.810248, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: START, addr= (LMRC) 0,1,4,2
2011-01-04T11:44:56.811845, robot-config, Cfg_map_config_class::get_column (priv
ate): NON
adjusted track_mil_offset = 4668
2011-01-04T11:44:56.812359, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position nom positions top:bot(TZW)=4668,8880,213:0,0,0
2011-01-04T11:44:56.815395, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,2 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:44:56.815956, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: Targets Not Calibrated
2011-01-04T11:44:56.817596, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: END, final positions top:bot(TZW)=4668,8880,213:0,0,0 (mil
s)
2011-01-04T11:44:56.819186, robot-config, cfg_user_get_target_cartesian: Target
is NOT Calibrated, using Library Cal (Endstop's Target Offsets, if set)
2011-01-04T11:44:56.820775, robot-cfg-calib, Cfg_calib_library_cal_class::get: R
ight Half, Cal'd=1, offsets (TZW)=0,0,-60 (mils)
2011-01-04T11:44:56.821382, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:44:56.832230, robot-cmo, cmo_move_arm: commanding arm to (TZW) 466
8,8884,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:44:56.833943, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:56.850029, servo, servo - operation 0x0012 on track
2011-01-04T11:44:56.851725, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:56.853411, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=31.244200, end=30.829399, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:44:56.853887, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:56.855518, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:44:56.880949, servo, servo - operation 0x0012 on z
2011-01-04T11:44:56.882705, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:56.884405, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=42.295361, end=120.587173, direction=1, end_seg=2, lead_on_decel
=0
2011-01-04T11:44:56.886030, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:56.887949, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:44:56.916791, servo, servo - operation 0x0012 on wrist
2011-01-04T11:44:56.918753, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:56.920588, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:56.922326, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:56.925875, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:44:56.927679, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:56.929315, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:56.947278, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:56.956602, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:57.122168, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:57.122518, servo, srv get_profile_resp: track final pos=5053 ta
chs (4666 mils, 30.823299 rads), distance=64 mils, srv_status=0, result code=0
2011-01-04T11:44:57.134832, service-metrics, track, Time 0.000283:0.000367:0.000
560(Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:57.138754, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:58.577385, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:58.577734, servo, srv get_profile_resp: z final pos=38330 tachs
(8871 mils, 120.417526 rads), distance=5755 mils, srv_status=0, result code=0
2011-01-04T11:44:58.586360, service-metrics, z, Time 0.000242:0.000419:0.000716(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:58.589893, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:58.595524, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 4667,8871,152 (mils)
2011-01-04T11:44:58.788859, robot, scanUserTarget: Returning target bars=9, retu
rnVal=0, code=0, targetReadTime=0.191098
2011-01-04T11:44:58.994219, robot, scanUserTarget: Returning target bars=7, retu
rnVal=0, code=0, targetReadTime=0.187873
2011-01-04T11:44:59.203321, robot, scanUserTarget: Returning target bars=9, retu
rnVal=0, code=0, targetReadTime=0.194945
2011-01-04T11:44:59.219701, robot-cmo, cmo_move_arm: commanding arm to (TZW) 466
8,8934,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:44:59.221287, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:59.237381, servo, servo - operation 0x0012 on track
2011-01-04T11:44:59.237978, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:59.239413, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=30.829399, end=30.829399, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:44:59.241016, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:59.241580, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:44:59.243187, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:59.244746, servo, srv get_profile_resp: track final pos=5054 ta
chs (4667 mils, 30.829399 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:59.255681, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:59.270111, servo, servo - operation 0x0012 on z
2011-01-04T11:44:59.271816, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:59.273499, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=120.417526, end=121.265755, direction=1, end_seg=2, lead_on_dece
l=0
2011-01-04T11:44:59.273979, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:59.275629, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:44:59.302912, servo, servo - operation 0x0012 on wrist
2011-01-04T11:44:59.306080, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:44:59.306457, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:44:59.308139, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:44:59.310011, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:44:59.311745, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:59.313494, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:44:59.327767, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:44:59.335354, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:59.340476, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:59.605322, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:44:59.605671, servo, srv get_profile_resp: z final pos=38532 tachs
(8918 mils, 121.052132 rads), distance=47 mils, srv_status=0, result code=0
2011-01-04T11:44:59.614348, service-metrics, z, Time 0.000242:0.000347:0.000524(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:44:59.617886, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:44:59.623489, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 4667,8918,152 (mils)
2011-01-04T11:44:59.812794, robot, scanUserTarget: Returning target bars=6, retu
rnVal=0, code=0, targetReadTime=0.187137
2011-01-04T11:45:00.032992, robot, scanUserTarget: Returning target bars=5, retu
rnVal=0, code=0, targetReadTime=0.207501
2011-01-04T11:45:00.238437, robot, scanUserTarget: Returning target bars=6, retu
rnVal=0, code=0, targetReadTime=0.194289
2011-01-04T11:45:00.251082, robot-cmo, cmo_move_arm: commanding arm to (TZW) 466
8,8834,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:45:00.252806, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:00.268882, servo, servo - operation 0x0012 on track
2011-01-04T11:45:00.269487, robot, Srv_mech_parm_class::state - parmsOn = 0
2967 (mils)
2011-01-04T11:45:08.404542, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:08.417150, servo, servo - operation 0x0012 on z
2011-01-04T11:45:08.418922, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:08.420438, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=29.553030, end=40.272171, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:45:08.422024, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:08.422597, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:09.156037, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:09.156386, servo, srv get_profile_resp: z final pos=12769 tachs
(2955 mils, 40.115089 rads), distance=778 mils, srv_status=0, result code=0
2011-01-04T11:45:09.165146, service-metrics, z, Time 0.000242:0.000397:0.000685(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:09.168690, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:10.254589, robot-cmo, cmo_user_audit_cell_scan failed: read_sta
tus=1, read_result.code=0, robot_status=0 robot_result.code=0
2011-01-04T11:45:10.256287, robot, cmo_eval_op_state START: cmo_status=2, operat
ion=2, code=0, operationalState=0
2011-01-04T11:45:10.257882, robot, cmo_eval_op_state checking to see if cart pre
sent will be over-ridden by grip position
2011-01-04T11:45:10.258388, robot, cmo_eval_op_state sensor read - Reach Safe:1,
Cartridge Present:0
2011-01-04T11:45:10.260019, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:10.261662, robot, cmo_eval_op_state END: cmo_status=2, operatio
n=2, code=0, operationalState=0
2011-01-04T11:45:10.263417, robot, directorUserAuditData: Addr: (LMRC) 0,1,1,2,
Label:, Present:0, Upside Down:0, Magazine Absent:0
2011-01-04T11:45:10.263905, robot,
Last chunk=false
2011-01-04T11:45:10.283213, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:45:10.285006, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,2,2 -> calibrated=1, retarget=0, top TZW=66,-207,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:45:10.286772, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,2,2, targ offsets (sign co
rrected) top:bot(TZW)=66,-207,-60:0,0,0 (mils)
2011-01-04T11:45:10.287299, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:45:10.288884, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=4668,4410,213 cal positions(TZW)=4734
,4203,153 (mils)
2011-01-04T11:45:10.290589, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:45:10.292198, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_START_OFFSET_Z, dim_value = -780 (mils)
2011-01-04T11:45:10.292768, robot-cmo, cmo_move_arm: commanding arm to (TZW) 473
4,3427,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:45:10.294248, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:10.308990, servo, servo - operation 0x0012 on track
2011-01-04T11:45:10.310661, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:10.312251, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=31.274700, end=31.268599, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:45:10.313810, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:10.315711, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:45:10.317372, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:10.317928, servo, srv get_profile_resp: track final pos=5127 ta
chs (4735 mils, 31.274700 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:10.328792, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:10.342743, servo, servo - operation 0x0012 on z
2011-01-04T11:45:10.344981, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:10.346772, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=40.115089, end=46.514530, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:45:10.348539, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:10.350439, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:10.372020, servo, servo - operation 0x0012 on wrist
2011-01-04T11:45:10.375301, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:10.375678, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:45:10.377437, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:10.379273, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:45:10.381085, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:10.382733, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:10.397110, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:10.405994, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:10.409799, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:10.955818, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:10.956166, servo, srv get_profile_resp: z final pos=14750 tachs
(3414 mils, 46.338600 rads), distance=458 mils, srv_status=0, result code=0
2011-01-04T11:45:10.964881, service-metrics, z, Time 0.000242:0.000389:0.000711(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:10.968427, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:10.970761, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 4734,3413,152 (mils)
2011-01-04T11:45:10.973777, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:45:10.974243, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,2,2 -> calibrated=1, retarget=0, top TZW=66,-207,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:45:10.975775, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,2,2, targ offsets (sign co
rrected) top:bot(TZW)=66,-207,-60:0,0,0 (mils)
2011-01-04T11:45:10.976064, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:45:10.977361, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=4668,4410,213 cal positions(TZW)=4734
,4203,153 (mils)
2011-01-04T11:45:10.979323, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:45:10.979625, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_END_OFFSET_Z, dim_value = 0 (mils)
2011-01-04T11:45:10.979889, robot-cmo, cmo_move_arm_z_scan_req: commanding arm t
o (Z) 4207 (mils)
2011-01-04T11:45:10.981226, servo, srv_user_move_mech_z_scan_req: scanType=3, to
4207 (mils)
2011-01-04T11:45:10.981514, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:10.995632, servo, servo - operation 0x0012 on z
2011-01-04T11:45:10.997334, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:10.999096, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=46.338600, end=57.101719, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:45:11.000909, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:11.003181, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:11.736750, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:11.737098, servo, srv get_profile_resp: z final pos=18129 tachs
(4196 mils, 56.954063 rads), distance=782 mils, srv_status=0, result code=0
2011-01-04T11:45:11.745726, service-metrics, z, Time 0.000241:0.000396:0.000515(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:11.749271, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:12.323022, robot, label=000147L3, cart detect=1
2011-01-04T11:45:12.324800, robot, cmo_eval_op_state START: cmo_status=0, operat
ion=2, code=0, operationalState=0
2011-01-04T11:45:12.325088, robot, cmo_eval_op_state checking to see if cart pre
sent will be over-ridden by grip position
2011-01-04T11:45:12.326425, robot, cmo_eval_op_state sensor read - Reach Safe:1,
Cartridge Present:0
2011-01-04T11:45:12.326768, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:12.328192, robot, cmo_eval_op_state END: cmo_status=0, operatio
n=2, code=0, operationalState=0
2011-01-04T11:45:12.328602, robot, directorUserAuditData: Addr: (LMRC) 0,1,2,2,
Label:000147L3, Present:1, Upside Down:0, Magazine Absent:0
2011-01-04T11:45:12.329929, robot,
Last chunk=false
2011-01-04T11:45:12.342755, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:45:12.343237, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,3,2 -> calibrated=1, retarget=0, top TZW=66,-207,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:45:12.344718, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,3,2, targ offsets (sign co
rrected) top:bot(TZW)=66,-207,-60:0,0,0 (mils)
2011-01-04T11:45:12.345002, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:45:12.346405, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=4668,5450,213 cal positions(TZW)=4734
,5243,153 (mils)
2011-01-04T11:45:12.346759, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:45:12.348153, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_START_OFFSET_Z, dim_value = -780 (mils)
2011-01-04T11:45:12.348436, robot-cmo, cmo_move_arm: commanding arm to (TZW) 473
mils)
2011-01-04T11:45:16.315714, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,5,2, targ offsets (sign co
rrected) top:bot(TZW)=66,-204,-60:0,0,0 (mils)
2011-01-04T11:45:16.316003, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:45:16.317369, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=4668,7685,213 cal positions(TZW)=4734
,7481,153 (mils)
2011-01-04T11:45:16.317738, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:45:16.319110, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_START_OFFSET_Z, dim_value = -780 (mils)
2011-01-04T11:45:16.319401, robot-cmo, cmo_move_arm: commanding arm to (TZW) 473
4,6705,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:45:16.319717, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:16.335866, servo, servo - operation 0x0012 on track
2011-01-04T11:45:16.339529, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:16.341194, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=31.268599, end=31.268599, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:45:16.344355, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:16.346673, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:45:16.348360, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:16.350032, servo, srv get_profile_resp: track final pos=5126 ta
chs (4734 mils, 31.268599 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:16.364184, servo, servo - operation 0x0012 on z
2011-01-04T11:45:16.368398, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:16.371766, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=87.330193, end=91.009010, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:45:16.375237, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:16.376843, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:16.380786, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:16.395026, servo, servo - operation 0x0012 on wrist
2011-01-04T11:45:16.398519, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:16.400416, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:45:16.402209, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:16.404470, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:45:16.407707, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:16.409507, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:16.418900, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:16.431450, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:16.438364, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:16.878166, robot, srv_utils_isr_get_response: Recieved Response
et Pending, pending=1
2011-01-04T11:45:20.294239, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:45:20.296126, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:20.297957, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:20.308592, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:20.321165, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:20.339461, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:20.872789, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:20.873137, servo, srv get_profile_resp: z final pos=38769 tachs
(8973 mils, 121.796684 rads), distance=459 mils, srv_status=0, result code=0
2011-01-04T11:45:20.881783, service-metrics, z, Time 0.000242:0.000388:0.000513(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:20.885421, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:20.888874, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 4734,8972,152 (mils)
2011-01-04T11:45:20.889398, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:45:20.891223, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,7,2 -> calibrated=1, retarget=0, top TZW=66,-204,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:45:20.892903, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,7,2, targ offsets (sign co
rrected) top:bot(TZW)=66,-204,-60:0,0,0 (mils)
2011-01-04T11:45:20.894462, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:45:20.894860, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=4668,9965,213 cal positions(TZW)=4734
,9761,153 (mils)
2011-01-04T11:45:20.896461, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:45:20.898027, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_END_OFFSET_Z, dim_value = 0 (mils)
2011-01-04T11:45:20.898451, robot-cmo, cmo_move_arm_z_scan_req: commanding arm t
o (Z) 9765 (mils)
2011-01-04T11:45:20.900033, servo, srv_user_move_mech_z_scan_req: scanType=3, to
9765 (mils)
2011-01-04T11:45:20.901596, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:20.914435, servo, servo - operation 0x0012 on z
2011-01-04T11:45:20.917646, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:20.918356, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=121.796684, end=132.547241, direction=1, end_seg=2, lead_on_dece
l=0
2011-01-04T11:45:20.920184, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:20.923739, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:21.657236, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:21.657586, servo, srv get_profile_resp: z final pos=42143 tachs
(9754 mils, 132.396454 rads), distance=781 mils, srv_status=0, result code=0
2011-01-04T11:45:21.666469, service-metrics, z, Time 0.000243:0.000402:0.000555(
chs (9138 mils, 60.359497 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:28.878493, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:28.894234, servo, servo - operation 0x0012 on z
2011-01-04T11:45:28.895921, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:28.896396, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=46.376297, end=43.828461, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:45:28.898026, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:28.899841, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:28.924970, servo, servo - operation 0x0012 on wrist
2011-01-04T11:45:28.926907, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:28.928579, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:45:28.929016, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:28.932268, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:45:28.934004, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:28.934341, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:28.950325, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:28.959543, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:28.963055, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:29.343817, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:29.345351, servo, srv get_profile_resp: z final pos=13905 tachs
(3218 mils, 43.683949 rads), distance=198 mils, srv_status=0, result code=0
2011-01-04T11:45:29.354134, service-metrics, z, Time 0.000247:0.000385:0.000798(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:29.357779, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:29.364762, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 9138,3218,152 (mils)
2011-01-04T11:45:29.565541, robot, scanUserTarget: Returning target bars=11, ret
urnVal=0, code=0, targetReadTime=0.198483
2011-01-04T11:45:29.614230, robot-cfg-calib, cmo_target target found: Scanner Ho
rizontal Offset=82 (-left/+right)MILS, Vertical Offset=-25 (-up/+down)MILS
2011-01-04T11:45:29.619548, robot-cfg-calib, Cfg_calib_library_cal_class::get: R
ight Half, Cal'd=1, offsets (TZW)=0,0,-60 (mils)
2011-01-04T11:45:29.621136, robot-cfg-calib, cmo_target: Applying Library Calibr
ation offset to Wrist
2011-01-04T11:45:29.624772, robot-config, cfg_parse_get_dimension succesful: dim
_name = CALIB_RETARGET_TOLERANCE, dim_value = 15 (mils)
2011-01-04T11:45:29.626887, robot-cmo, cmo_move_arm: commanding arm to (TZW) 922
0,3193,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:45:29.628581, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:29.644936, servo, servo - operation 0x0012 on track
2011-01-04T11:45:29.646630, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:29.648213, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=60.359497, end=60.902397, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:45:29.649769, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:29.650336, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:45:29.671734, servo, servo - operation 0x0012 on z
2011-01-04T11:45:29.673606, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:29.675311, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=43.683949, end=43.338371, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:45:29.676903, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:29.677475, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:29.708026, servo, servo - operation 0x0012 on wrist
2011-01-04T11:45:29.711454, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:29.713211, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:45:29.715061, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:29.716974, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:45:29.718879, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:29.720611, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:29.740304, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:29.751286, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:29.927578, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:29.927956, servo, srv get_profile_resp: track final pos=9974 ta
chs (9210 mils, 60.841400 rads), distance=73 mils, srv_status=0, result code=0
2011-01-04T11:45:29.936875, service-metrics, track, Time 0.000296:0.000385:0.000
591(Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:29.940421, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:29.949235, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:29.949584, servo, srv get_profile_resp: z final pos=13753 tachs
(3183 mils, 43.206425 rads), distance=35 mils, srv_status=0, result code=0
2011-01-04T11:45:29.958471, service-metrics, z, Time 0.000247:0.000337:0.000737(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:29.962077, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:29.969142, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 9210,3183,152 (mils)
2011-01-04T11:45:30.167799, robot, scanUserTarget: Returning target bars=11, ret
urnVal=0, code=0, targetReadTime=0.196457
2011-01-04T11:45:30.216532, robot-cfg-calib, cmo_target target found: Scanner Ho
rizontal Offset=7 (-left/+right)MILS, Vertical Offset=5 (-up/+down)MILS
2011-01-04T11:45:30.221735, robot-cfg-calib, Cfg_calib_library_cal_class::get: R
ight Half, Cal'd=1, offsets (TZW)=0,0,-60 (mils)
2011-01-04T11:45:30.223437, robot-cfg-calib, cmo_target: Applying Library Calibr
ation offset to Wrist
2011-01-04T11:45:30.230410, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,3 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:30.232296, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,3 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:30.234152, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,1,3 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
=0
2011-01-04T11:45:30.532063, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:30.533796, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:45:30.562437, servo, servo - operation 0x0012 on z
2011-01-04T11:45:30.564242, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:30.564712, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=43.206425, end=120.587173, direction=1, end_seg=2, lead_on_decel
=0
2011-01-04T11:45:30.566497, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:30.568191, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:30.597024, servo, servo - operation 0x0012 on wrist
2011-01-04T11:45:30.600450, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:30.602249, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:45:30.604098, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:30.607606, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:45:30.607985, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:30.609754, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:30.629417, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:30.640209, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:30.811451, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:30.811802, servo, srv get_profile_resp: track final pos=9891 ta
chs (9134 mils, 60.335098 rads), distance=83 mils, srv_status=0, result code=0
2011-01-04T11:45:30.824304, service-metrics, track, Time 0.000286:0.000384:0.000
563(Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:30.829500, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:32.250340, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:32.250690, servo, srv get_profile_resp: z final pos=38330 tachs
(8871 mils, 120.417526 rads), distance=5688 mils, srv_status=0, result code=0
2011-01-04T11:45:32.259580, service-metrics, z, Time 0.000245:0.000431:0.000946(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:32.263229, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:32.268241, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 9137,8871,152 (mils)
2011-01-04T11:45:32.485311, robot, scanUserTarget: Returning target bars=9, retu
rnVal=0, code=0, targetReadTime=0.216307
2011-01-04T11:45:32.692737, robot, scanUserTarget: Returning target bars=11, ret
urnVal=0, code=0, targetReadTime=0.191151
2011-01-04T11:45:32.907185, robot, scanUserTarget: Returning target bars=9, retu
rnVal=0, code=0, targetReadTime=0.189728
2011-01-04T11:45:32.924858, robot-cmo, cmo_move_arm: commanding arm to (TZW) 913
8,8934,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:45:32.926534, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:32.943288, servo, servo - operation 0x0012 on track
2011-01-04T11:45:32.945077, robot, Srv_mech_parm_class::state - parmsOn = 0
_cell_cal_position START
2011-01-04T11:45:45.842497, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,3 -> calibrated=1, retarget=0, top TZW=77,-173,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:45:45.842945, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,4,3, targ offsets (sign co
rrected) top:bot(TZW)=77,-173,-60:0,0,0 (mils)
2011-01-04T11:45:45.846164, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:45:45.846456, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=9138,6645,213 cal positions(TZW)=9215
,6472,153 (mils)
2011-01-04T11:45:45.848266, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:45:45.849719, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_END_OFFSET_Z, dim_value = 0 (mils)
2011-01-04T11:45:45.850009, robot-cmo, cmo_move_arm_z_scan_req: commanding arm t
o (Z) 6476 (mils)
2011-01-04T11:45:45.850256, servo, srv_user_move_mech_z_scan_req: scanType=3, to
6476 (mils)
2011-01-04T11:45:45.853800, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:45.866457, servo, servo - operation 0x0012 on z
2011-01-04T11:45:45.868164, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:45.869792, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=77.110573, end=87.901970, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:45:45.871318, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:45.871890, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:46.607176, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:46.607526, servo, srv get_profile_resp: z final pos=27926 tachs
(6463 mils, 87.732323 rads), distance=783 mils, srv_status=0, result code=0
2011-01-04T11:45:46.616435, service-metrics, z, Time 0.000242:0.000408:0.000950(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:46.619992, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:47.685721, robot-cmo, cmo_user_audit_cell_scan failed: read_sta
tus=1, read_result.code=0, robot_status=0 robot_result.code=0
2011-01-04T11:45:47.686142, robot, cmo_eval_op_state START: cmo_status=2, operat
ion=2, code=0, operationalState=0
2011-01-04T11:45:47.687595, robot, cmo_eval_op_state checking to see if cart pre
sent will be over-ridden by grip position
2011-01-04T11:45:47.687874, robot, cmo_eval_op_state sensor read - Reach Safe:1,
Cartridge Present:0
2011-01-04T11:45:47.689310, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:47.689625, robot, cmo_eval_op_state END: cmo_status=2, operatio
n=2, code=0, operationalState=0
2011-01-04T11:45:47.691216, robot, directorUserAuditData: Addr: (LMRC) 0,1,4,3,
Label:, Present:0, Upside Down:0, Magazine Absent:0
2011-01-04T11:45:47.691487, robot,
Last chunk=false
2011-01-04T11:45:47.712762, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:45:47.714373, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,5,3 -> calibrated=1, retarget=0, top TZW=77,-173,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:45:47.714773, robot-cfg-calib, Cfg_calib_target_class(public)::get
2011-01-04T11:45:49.671655, robot,
Last chunk=false
2011-01-04T11:45:49.693299, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:45:49.694914, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,6,3 -> calibrated=1, retarget=0, top TZW=77,-173,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:45:49.696454, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,6,3, targ offsets (sign co
rrected) top:bot(TZW)=77,-173,-60:0,0,0 (mils)
2011-01-04T11:45:49.696748, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:45:49.698065, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=9138,8725,213 cal positions(TZW)=9215
,8552,153 (mils)
2011-01-04T11:45:49.698440, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:45:49.698735, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_START_OFFSET_Z, dim_value = -780 (mils)
2011-01-04T11:45:49.700185, robot-cmo, cmo_move_arm: commanding arm to (TZW) 921
5,7776,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:45:49.700502, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:49.722155, servo, servo - operation 0x0012 on track
2011-01-04T11:45:49.723942, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:49.725446, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=60.865799, end=60.865799, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:45:49.726944, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:49.727510, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:45:49.729194, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:49.730585, servo, srv get_profile_resp: track final pos=9978 ta
chs (9214 mils, 60.865799 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:49.741700, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:49.761369, servo, servo - operation 0x0012 on z
2011-01-04T11:45:49.763088, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:49.763562, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=101.844383, end=105.548332, direction=1, end_seg=2, lead_on_dece
l=0
2011-01-04T11:45:49.765190, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:49.766829, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:49.794098, servo, servo - operation 0x0012 on wrist
2011-01-04T11:45:49.796035, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:49.797742, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:45:49.799485, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:49.801354, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:45:49.804708, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:49.805046, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:49.820857, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
Cartridge Present:0
2011-01-04T11:45:51.627916, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:51.628264, robot, cmo_eval_op_state END: cmo_status=0, operatio
n=2, code=0, operationalState=0
2011-01-04T11:45:51.629809, robot, directorUserAuditData: Addr: (LMRC) 0,1,6,3,
Label:000278L3, Present:1, Upside Down:0, Magazine Absent:0
2011-01-04T11:45:51.630084, robot,
Last chunk=false
2011-01-04T11:45:51.642757, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:45:51.644396, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,7,3 -> calibrated=1, retarget=0, top TZW=77,-173,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:45:51.645887, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,7,3, targ offsets (sign co
rrected) top:bot(TZW)=77,-173,-60:0,0,0 (mils)
2011-01-04T11:45:51.646177, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:45:51.646422, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=9138,9965,213 cal positions(TZW)=9215
,9792,153 (mils)
2011-01-04T11:45:51.647931, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:45:51.649343, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_START_OFFSET_Z, dim_value = -780 (mils)
2011-01-04T11:45:51.649652, robot-cmo, cmo_move_arm: commanding arm to (TZW) 921
5,9016,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:45:51.649966, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:51.667319, servo, servo - operation 0x0012 on track
2011-01-04T11:45:51.669801, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:51.671475, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=60.865799, end=60.865799, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:45:51.673406, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:51.676810, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:45:51.678492, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:51.680149, servo, srv get_profile_resp: track final pos=9978 ta
chs (9214 mils, 60.865799 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:51.694424, servo, servo - operation 0x0012 on z
2011-01-04T11:45:51.698666, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:51.702051, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=115.956451, end=122.377884, direction=1, end_seg=2, lead_on_dece
l=0
2011-01-04T11:45:51.705614, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:51.707255, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:51.711115, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:51.727101, servo, servo - operation 0x0012 on wrist
2011-01-04T11:45:51.729379, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:51.732552, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:45:51.734492, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:51.738133, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:45:51.739950, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:51.741871, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:51.750741, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:51.765399, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:51.772276, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:52.316649, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:52.316999, servo, srv get_profile_resp: z final pos=38892 tachs
(9001 mils, 122.183105 rads), distance=459 mils, srv_status=0, result code=0
2011-01-04T11:45:52.325912, service-metrics, z, Time 0.000237:0.000393:0.000549(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:52.329468, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:52.333082, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 9214,9001,152 (mils)
2011-01-04T11:45:52.334611, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:45:52.336526, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,7,3 -> calibrated=1, retarget=0, top TZW=77,-173,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:45:52.337081, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,7,3, targ offsets (sign co
rrected) top:bot(TZW)=77,-173,-60:0,0,0 (mils)
2011-01-04T11:45:52.338593, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:45:52.340071, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=9138,9965,213 cal positions(TZW)=9215
,9792,153 (mils)
2011-01-04T11:45:52.340637, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:45:52.342176, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_END_OFFSET_Z, dim_value = 0 (mils)
2011-01-04T11:45:52.343949, robot-cmo, cmo_move_arm_z_scan_req: commanding arm t
o (Z) 9796 (mils)
2011-01-04T11:45:52.345564, servo, srv_user_move_mech_z_scan_req: scanType=3, to
9796 (mils)
2011-01-04T11:45:52.346012, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:52.359846, servo, servo - operation 0x0012 on z
2011-01-04T11:45:52.362040, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:52.364013, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=122.183105, end=132.968216, direction=1, end_seg=2, lead_on_dece
l=0
2011-01-04T11:45:52.365890, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:52.369227, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:53.103080, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:53.103428, servo, srv get_profile_resp: z final pos=42275 tachs
(9784 mils, 132.811142 rads), distance=783 mils, srv_status=0, result code=0
2011-01-04T11:45:53.112261, service-metrics, z, Time 0.000243:0.000404:0.000554(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:53.115856, robot, srv_user_is_reach_safe: cart present sensor=0
0
2011-01-04T11:45:56.462847, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:56.464575, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:45:56.493641, servo, servo - operation 0x0012 on wrist
2011-01-04T11:45:56.495655, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:56.497310, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:45:56.499073, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:56.500891, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:45:56.502912, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:56.504525, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:56.520631, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:56.533203, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:56.535405, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:56.790973, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:56.791321, servo, srv get_profile_resp: z final pos=14535 tachs
(3364 mils, 45.663155 rads), distance=46 mils, srv_status=0, result code=0
2011-01-04T11:45:56.801712, service-metrics, z, Time 0.000244:0.000355:0.000746(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:45:56.805534, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:56.811181, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 13611,3364,152 (mils)
2011-01-04T11:45:57.013046, robot, scanUserTarget: Returning target bars=13, ret
urnVal=0, code=0, targetReadTime=0.198394
2011-01-04T11:45:57.312142, robot, scanUserTarget: Returning target bars=7, retu
rnVal=0, code=0, targetReadTime=0.271835
2011-01-04T11:45:57.532212, robot, scanUserTarget: Returning target bars=15, ret
urnVal=0, code=0, targetReadTime=0.205678
2011-01-04T11:45:57.564820, robot-cmo, cmo_move_arm: commanding arm to (TZW) 136
08,3279,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:45:57.566554, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:57.583067, servo, servo - operation 0x0012 on track
2011-01-04T11:45:57.584833, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:57.586400, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=89.907898, end=89.889595, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:45:57.587989, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:57.588553, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:45:57.590115, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:45:57.591691, servo, srv get_profile_resp: track final pos=14739 t
achs (13611 mils, 89.907898 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:45:57.602755, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:45:57.613789, servo, servo - operation 0x0012 on z
2011-01-04T11:45:57.618817, robot, Srv_mech_parm_class::state - parmsOn = 0
mils)
2011-01-04T11:45:59.025529, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,4 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:59.027245, robot, srv_user_hand_cart_state: cart present sensor
=0
2011-01-04T11:45:59.028917, robot-config, cfg_user_get_target_cartesian: Nominal
Target Cartesian Requested for address: (LMRC) 0,1,4,4
2011-01-04T11:45:59.029436, robot-config, Cfg_map_config_class::get_column (priv
ate): NON
adjusted track_mil_offset = 13608
2011-01-04T11:45:59.031180, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:45:59.032987, robot-config, cfg_user_get_target_cartesian: Calibra
ted Target Cartesian Requested for address: (LMRC) 0,1,4,4
2011-01-04T11:45:59.034667, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: START, addr= (LMRC) 0,1,4,4
2011-01-04T11:45:59.036247, robot-config, Cfg_map_config_class::get_column (priv
ate): NON
adjusted track_mil_offset = 13608
2011-01-04T11:45:59.037899, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position nom positions top:bot(TZW)=13608,8880,213:0,0,0
2011-01-04T11:45:59.039723, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,4 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:59.040244, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: Targets Not Calibrated
2011-01-04T11:45:59.041922, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: END, final positions top:bot(TZW)=13608,8880,213:0,0,0 (mi
ls)
2011-01-04T11:45:59.043590, robot-cfg-calib, cfg_calib_user_get_target_cal_posit
ion(): location Not Calibrated for handEmpty, using handFull if available
2011-01-04T11:45:59.045401, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: START, addr= (LMRC) 0,1,4,4
2011-01-04T11:45:59.046999, robot-config, Cfg_map_config_class::get_column (priv
ate): NON
adjusted track_mil_offset = 13608
2011-01-04T11:45:59.047515, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position nom positions top:bot(TZW)=13608,8880,213:0,0,0
2011-01-04T11:45:59.050459, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,4 -> calibrated=0, retarget=1, top TZW=0,0,0, bottom TZW=0,0,0 (mils)
2011-01-04T11:45:59.050994, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: Targets Not Calibrated
2011-01-04T11:45:59.052588, robot-cfg-calib, Cfg_calib_target_class(public)::get
_target_cal_position: END, final positions top:bot(TZW)=13608,8880,213:0,0,0 (mi
ls)
2011-01-04T11:45:59.054237, robot-config, cfg_user_get_target_cartesian: Target
is NOT Calibrated, using Library Cal (Endstop's Target Offsets, if set)
2011-01-04T11:45:59.054734, robot-cfg-calib, Cfg_calib_library_cal_class::get: R
ight Half, Cal'd=1, offsets (TZW)=0,0,-60 (mils)
2011-01-04T11:45:59.056472, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:45:59.059777, robot-cmo, cmo_move_arm: commanding arm to (TZW) 136
08,8884,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:45:59.061450, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:45:59.077777, servo, servo - operation 0x0012 on track
2011-01-04T11:45:59.079488, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:45:59.079958, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=90.347099, end=89.889595, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:45:59.081555, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:45:59.083305, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
0
2011-01-04T11:46:08.437666, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:08.439297, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:46:09.173131, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:09.173482, servo, srv get_profile_resp: z final pos=13142 tachs
(3042 mils, 41.286907 rads), distance=776 mils, srv_status=0, result code=0
2011-01-04T11:46:09.182323, service-metrics, z, Time 0.000246:0.000409:0.001007(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:46:09.185929, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:09.754080, robot, label=000280L3, cart detect=1
2011-01-04T11:46:09.755804, robot, cmo_eval_op_state START: cmo_status=0, operat
ion=2, code=0, operationalState=0
2011-01-04T11:46:09.756090, robot, cmo_eval_op_state checking to see if cart pre
sent will be over-ridden by grip position
2011-01-04T11:46:09.757570, robot, cmo_eval_op_state sensor read - Reach Safe:1,
Cartridge Present:0
2011-01-04T11:46:09.757903, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:09.759305, robot, cmo_eval_op_state END: cmo_status=0, operatio
n=2, code=0, operationalState=0
2011-01-04T11:46:09.759696, robot, directorUserAuditData: Addr: (LMRC) 0,1,1,4,
Label:000280L3, Present:1, Upside Down:0, Magazine Absent:0
2011-01-04T11:46:09.761138, robot,
Last chunk=false
2011-01-04T11:46:09.782768, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:46:09.784620, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,2,4 -> calibrated=1, retarget=0, top TZW=72,-121,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:46:09.786391, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,2,4, targ offsets (sign co
rrected) top:bot(TZW)=72,-121,-60:0,0,0 (mils)
2011-01-04T11:46:09.786708, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:46:09.788267, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=13608,4410,213 cal positions(TZW)=136
80,4289,153 (mils)
2011-01-04T11:46:09.790144, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:46:09.791572, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_START_OFFSET_Z, dim_value = -780 (mils)
2011-01-04T11:46:09.791864, robot-cmo, cmo_move_arm: commanding arm to (TZW) 136
80,3513,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:46:09.793859, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:09.811505, servo, servo - operation 0x0012 on track
2011-01-04T11:46:09.813739, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:09.815364, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=90.377602, end=90.365395, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:46:09.816967, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:09.818773, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:46:09.819139, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:09.820625, servo, srv get_profile_resp: track final pos=14816 t
achs (13682 mils, 90.377602 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:46:09.831120, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:46:09.860629, servo, servo - operation 0x0012 on z
2011-01-04T11:46:09.862451, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:09.864046, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=41.286907, end=47.683205, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:46:09.865669, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:09.867411, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:46:09.894956, servo, servo - operation 0x0012 on wrist
2011-01-04T11:46:09.898137, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:09.898514, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:46:09.900253, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:09.902149, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:46:09.905328, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:09.905666, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:46:09.920129, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:46:09.945269, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:09.949001, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:10.471537, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:10.471887, servo, srv get_profile_resp: z final pos=15130 tachs
(3502 mils, 47.532406 rads), distance=460 mils, srv_status=0, result code=0
2011-01-04T11:46:10.480894, service-metrics, z, Time 0.000244:0.000398:0.000942(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:46:10.484577, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:10.491198, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 13680,3501,152 (mils)
2011-01-04T11:46:10.491498, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:46:10.493267, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,2,4 -> calibrated=1, retarget=0, top TZW=72,-121,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:46:10.493664, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,2,4, targ offsets (sign co
rrected) top:bot(TZW)=72,-121,-60:0,0,0 (mils)
2011-01-04T11:46:10.495100, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:46:10.495349, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=13608,4410,213 cal positions(TZW)=136
80,4289,153 (mils)
2011-01-04T11:46:10.496856, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:46:10.497157, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_END_OFFSET_Z, dim_value = 0 (mils)
2011-01-04T11:46:10.498494, robot-cmo, cmo_move_arm_z_scan_req: commanding arm t
o (Z) 4293 (mils)
2011-01-04T11:46:10.498791, servo, srv_user_move_mech_z_scan_req: scanType=3, to
4293 (mils)
2011-01-04T11:46:10.499093, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:10.516736, servo, servo - operation 0x0012 on z
2011-01-04T11:46:10.518463, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:10.518929, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=47.532406, end=58.270397, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:46:10.520523, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:10.522215, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:46:11.255900, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:11.256250, servo, srv get_profile_resp: z final pos=18494 tachs
(4280 mils, 58.100750 rads), distance=779 mils, srv_status=0, result code=0
2011-01-04T11:46:11.265201, service-metrics, z, Time 0.000241:0.000405:0.000753(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:46:11.268748, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:12.334421, robot-cmo, cmo_user_audit_cell_scan failed: read_sta
tus=1, read_result.code=0, robot_status=0 robot_result.code=0
2011-01-04T11:46:12.334842, robot, cmo_eval_op_state START: cmo_status=2, operat
ion=2, code=0, operationalState=0
2011-01-04T11:46:12.336313, robot, cmo_eval_op_state checking to see if cart pre
sent will be over-ridden by grip position
2011-01-04T11:46:12.336602, robot, cmo_eval_op_state sensor read - Reach Safe:1,
Cartridge Present:0
2011-01-04T11:46:12.337994, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:12.338314, robot, cmo_eval_op_state END: cmo_status=2, operatio
n=2, code=0, operationalState=0
2011-01-04T11:46:12.339831, robot, directorUserAuditData: Addr: (LMRC) 0,1,2,4,
Label:, Present:0, Upside Down:0, Magazine Absent:0
2011-01-04T11:46:12.340109, robot,
Last chunk=false
2011-01-04T11:46:12.352755, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:46:12.354448, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,3,4 -> calibrated=1, retarget=0, top TZW=72,-121,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:46:12.355926, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,3,4, targ offsets (sign co
rrected) top:bot(TZW)=72,-121,-60:0,0,0 (mils)
2011-01-04T11:46:12.356238, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:46:12.356483, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=13608,5450,213 cal positions(TZW)=136
80,5329,153 (mils)
2011-01-04T11:46:12.358062, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:46:12.358359, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_START_OFFSET_Z, dim_value = -780 (mils)
2011-01-04T11:46:12.359717, robot-cmo, cmo_move_arm: commanding arm to (TZW) 136
80,4553,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:46:12.360041, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:12.450067, servo, servo - operation 0x0012 on track
2011-01-04T11:46:12.451831, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:12.453358, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=90.365395, end=90.365395, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:46:12.453835, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:12.455514, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:46:12.457036, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:12.457407, servo, srv get_profile_resp: track final pos=14813 t
achs (13680 mils, 90.365395 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:46:12.467933, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:46:12.502024, servo, servo - operation 0x0012 on z
2011-01-04T11:46:12.503780, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:12.504259, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=58.100750, end=61.798412, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:46:12.505884, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:12.507700, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:46:12.534923, servo, servo - operation 0x0012 on wrist
2011-01-04T11:46:12.536849, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:12.538559, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:46:12.540271, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:12.542170, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:46:12.543961, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:12.545676, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:46:12.559989, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:46:12.585414, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:12.589172, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:13.010629, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:13.010980, servo, srv get_profile_resp: z final pos=19622 tachs
(4541 mils, 61.644474 rads), distance=261 mils, srv_status=0, result code=0
2011-01-04T11:46:13.019927, service-metrics, z, Time 0.000244:0.000389:0.000689(
Min:Avg:Max secs), MSI's=1
2011-01-04T11:46:13.025441, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:13.029202, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 13680,4541,152 (mils)
2011-01-04T11:46:13.030649, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:46:13.032291, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,3,4 -> calibrated=1, retarget=0, top TZW=72,-121,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:46:13.034546, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,3,4, targ offsets (sign co
rrected) top:bot(TZW)=72,-121,-60:0,0,0 (mils)
2011-01-04T11:46:13.035948, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:46:13.036205, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=13608,5450,213 cal positions(TZW)=136
80,5329,153 (mils)
2011-01-04T11:46:13.038073, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:46:13.039664, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_END_OFFSET_Z, dim_value = 0 (mils)
2011-01-04T11:46:13.039950, robot-cmo, cmo_move_arm_z_scan_req: commanding arm t
o (Z) 5333 (mils)
2011-01-04T11:46:13.041732, servo, srv_user_move_mech_z_scan_req: scanType=3, to
5333 (mils)
2011-01-04T11:46:13.045017, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:13.057935, servo, servo - operation 0x0012 on z
2011-01-04T11:46:13.059693, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:13.061203, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=61.644474, end=72.388748, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:46:13.061717, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:13.063504, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:46:13.798836, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:13.799185, servo, srv get_profile_resp: z final pos=22990 tachs
(5321 mils, 72.225380 rads), distance=780 mils, srv_status=0, result code=0
2011-01-04T11:46:13.808198, service-metrics, z, Time 0.000244:0.000406:0.000716(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:46:13.811783, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:14.875340, robot-cmo, cmo_user_audit_cell_scan failed: read_sta
tus=1, read_result.code=0, robot_status=0 robot_result.code=0
2011-01-04T11:46:14.875755, robot, cmo_eval_op_state START: cmo_status=2, operat
ion=2, code=0, operationalState=0
2011-01-04T11:46:14.877168, robot, cmo_eval_op_state checking to see if cart pre
sent will be over-ridden by grip position
2011-01-04T11:46:14.877461, robot, cmo_eval_op_state sensor read - Reach Safe:1,
Cartridge Present:0
2011-01-04T11:46:14.878911, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:14.879240, robot, cmo_eval_op_state END: cmo_status=2, operatio
n=2, code=0, operationalState=0
2011-01-04T11:46:14.880769, robot, directorUserAuditData: Addr: (LMRC) 0,1,3,4,
Label:, Present:0, Upside Down:0, Magazine Absent:0
2011-01-04T11:46:14.881051, robot,
Last chunk=false
2011-01-04T11:46:14.904056, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:46:14.904547, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,4,4 -> calibrated=1, retarget=0, top TZW=57,-163,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:46:14.906399, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,4,4, targ offsets (sign co
rrected) top:bot(TZW)=57,-163,-60:0,0,0 (mils)
2011-01-04T11:46:14.907849, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:46:14.908112, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=13608,6645,213 cal positions(TZW)=136
65,6482,153 (mils)
2011-01-04T11:46:14.910067, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:46:14.911509, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_START_OFFSET_Z, dim_value = -780 (mils)
mils)
2011-01-04T11:46:15.555558, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,4,4, targ offsets (sign co
rrected) top:bot(TZW)=57,-163,-60:0,0,0 (mils)
2011-01-04T11:46:15.557281, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:46:15.557561, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=13608,6645,213 cal positions(TZW)=136
65,6482,153 (mils)
2011-01-04T11:46:15.559282, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:46:15.560882, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_END_OFFSET_Z, dim_value = 0 (mils)
2011-01-04T11:46:15.561163, robot-cmo, cmo_move_arm_z_scan_req: commanding arm t
o (Z) 6486 (mils)
2011-01-04T11:46:15.564296, servo, srv_user_move_mech_z_scan_req: scanType=3, to
6486 (mils)
2011-01-04T11:46:15.564598, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:15.577207, servo, servo - operation 0x0012 on z
2011-01-04T11:46:15.578962, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:15.580546, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=77.289642, end=88.037056, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:46:15.581029, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:15.582756, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:46:16.318073, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:16.318423, servo, srv get_profile_resp: z final pos=27975 tachs
(6475 mils, 87.886261 rads), distance=781 mils, srv_status=0, result code=0
2011-01-04T11:46:16.327322, service-metrics, z, Time 0.000243:0.000406:0.000559(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:46:16.330911, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:17.393402, robot-cmo, cmo_user_audit_cell_scan failed: read_sta
tus=1, read_result.code=0, robot_status=0 robot_result.code=0
2011-01-04T11:46:17.395005, robot, cmo_eval_op_state START: cmo_status=2, operat
ion=2, code=0, operationalState=0
2011-01-04T11:46:17.396339, robot, cmo_eval_op_state checking to see if cart pre
sent will be over-ridden by grip position
2011-01-04T11:46:17.396651, robot, cmo_eval_op_state sensor read - Reach Safe:1,
Cartridge Present:0
2011-01-04T11:46:17.396981, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:17.398438, robot, cmo_eval_op_state END: cmo_status=2, operatio
n=2, code=0, operationalState=0
2011-01-04T11:46:17.398875, robot, directorUserAuditData: Addr: (LMRC) 0,1,4,4,
Label:, Present:0, Upside Down:0, Magazine Absent:0
2011-01-04T11:46:17.400246, robot,
Last chunk=false
2011-01-04T11:46:17.412757, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:46:17.413244, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,5,4 -> calibrated=1, retarget=0, top TZW=57,-163,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:46:17.414737, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,5,4, targ offsets (sign co
rrected) top:bot(TZW)=57,-163,-60:0,0,0 (mils)
2011-01-04T11:46:17.415025, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position START
2011-01-04T11:46:19.885072, robot, Cfg_calib_target_class(public)::get: addr (LM
RC) 0,1,6,4 -> calibrated=1, retarget=0, top TZW=57,-163,-60, bottom TZW=0,0,0 (
mils)
2011-01-04T11:46:19.885481, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position (cal'ed location) addr= (LMRC) 0,1,6,4, targ offsets (sign co
rrected) top:bot(TZW)=57,-163,-60:0,0,0 (mils)
2011-01-04T11:46:19.885763, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position: ONE TARGET
2011-01-04T11:46:19.887195, robot-cfg-calib, Cfg_calib_target_class(public)::get
_cell_cal_position END: nom positions(TZW)=13608,8725,213 cal positions(TZW)=136
65,8562,153 (mils)
2011-01-04T11:46:19.887551, robot-config, cfg_parse_get_dimension succesful: dim
_name = HAND_TO_CAMERA_OFFSET_Z, dim_value = 4 (mils)
2011-01-04T11:46:19.888937, robot-config, cfg_parse_get_dimension succesful: dim
_name = CELL_AUDIT_SCAN_START_OFFSET_Z, dim_value = -780 (mils)
2011-01-04T11:46:19.889216, robot-cmo, cmo_move_arm: commanding arm to (TZW) 136
65,7786,153 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:46:19.890661, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:19.910959, servo, servo - operation 0x0012 on track
2011-01-04T11:46:19.912788, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:19.914224, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=90.261696, end=90.261696, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:46:19.915807, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:19.917588, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:46:19.917975, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:19.919411, servo, srv get_profile_resp: track final pos=14797 t
achs (13664 mils, 90.261696 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:46:19.928947, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:46:19.961056, servo, servo - operation 0x0012 on z
2011-01-04T11:46:19.962892, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:19.964437, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=102.004608, end=105.683418, direction=1, end_seg=2, lead_on_dece
l=0
2011-01-04T11:46:19.964922, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:19.966645, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:46:19.993730, servo, servo - operation 0x0012 on wrist
2011-01-04T11:46:19.995721, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:19.997336, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.360300, end=1.360300, direction=-1, end_seg=2, lead_on_decel=0
2011-01-04T11:46:19.999069, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:20.001064, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:46:20.002800, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:20.004449, servo, srv get_profile_resp: wrist final pos=223 tac
hs (152 mils, 1.360300 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:46:20.018909, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:46:20.045878, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
mech=1
2011-01-04T11:46:25.643731, servo, servo - operation 0x0012 on wrist
2011-01-04T11:46:25.645672, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:25.647457, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=1.366400, end=126.721397, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:46:25.649200, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:25.651143, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:46:27.394527, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:27.394877, servo, srv get_profile_resp: z final pos=14337 tachs
(3318 mils, 45.041119 rads), distance=6477 mils, srv_status=0, result code=0
2011-01-04T11:46:27.403853, service-metrics, z, Time 0.000244:0.000432:0.000842(
Min:Avg:Max secs), MSI's=0
2011-01-04T11:46:27.407404, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:27.426989, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:27.427340, servo, srv get_profile_resp: wrist final pos=20782 t
achs (14209 mils, 126.770195 rads), distance=14056 mils, srv_status=0, result co
de=0
2011-01-04T11:46:27.436205, service-metrics, wrist, Time 0.000242:0.000420:0.000
732(Min:Avg:Max secs), MSI's=0
2011-01-04T11:46:27.439814, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:27.452509, servo, servo - operation 0x0012 on track
2011-01-04T11:46:27.454346, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:27.455852, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=84.716797, end=89.889595, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:46:27.456332, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:27.458081, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:46:27.943067, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:27.944520, servo, srv get_profile_resp: track final pos=14721 t
achs (13594 mils, 89.798096 rads), distance=769 mils, srv_status=0, result code=
0
2011-01-04T11:46:27.952131, service-metrics, track, Time 0.000294:0.000428:0.000
577(Min:Avg:Max secs), MSI's=0
2011-01-04T11:46:27.957060, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:27.962740, robot-cmo, cmo_move_arm: arm position after move (TZ
W) 13592,3318,14201 (mils)
2011-01-04T11:46:28.166422, robot, scanUserTarget: Returning target bars=21, ret
urnVal=0, code=0, targetReadTime=0.200279
2011-01-04T11:46:28.213262, robot, targetValid(): Valid Run Length Exceeded, max
= 19, runLength = 21
2011-01-04T11:46:28.410278, robot, scanUserTarget: Returning target bars=13, ret
urnVal=0, code=0, targetReadTime=0.194719
2011-01-04T11:46:28.633970, robot, scanUserTarget: Returning target bars=13, ret
urnVal=0, code=0, targetReadTime=0.195216
2011-01-04T11:46:28.662400, robot-cmo, cmo_move_arm: commanding arm to (TZW) 136
08,3379,14204 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:46:28.664217, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:28.680469, servo, servo - operation 0x0012 on track
W) 13610,3270,14204 (mils)
2011-01-04T11:46:30.507284, robot, scanUserTarget: Returning target bars=13, ret
urnVal=0, code=0, targetReadTime=0.203533
2011-01-04T11:46:30.752292, robot, scanUserTarget: Returning target bars=11, ret
urnVal=0, code=0, targetReadTime=0.218499
2011-01-04T11:46:31.070159, robot, scanUserTarget: Returning target bars=13, ret
urnVal=0, code=0, targetReadTime=0.296175
2011-01-04T11:46:31.098654, robot-cmo, cmo_move_arm: commanding arm to (TZW) 136
08,3429,14204 (mils), safeColumn position 0 (mils), safeColumn direction 0
2011-01-04T11:46:31.099266, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:31.116760, servo, servo - operation 0x0012 on track
2011-01-04T11:46:31.118488, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:31.118966, servo, srv_mech_build_prof_request(): profile type=2
, mech=0, start=89.901802, end=89.889595, direction=-1, end_seg=2, lead_on_decel
=0
2011-01-04T11:46:31.120537, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:31.122377, servo, srv_utils_isr_get_response: calling sigwait,
mech=0
2011-01-04T11:46:31.123820, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:31.124279, servo, srv get_profile_resp: track final pos=14738 t
achs (13610 mils, 89.901802 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:46:31.135297, service-metrics, track, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:46:31.151401, servo, servo - operation 0x0012 on z
2011-01-04T11:46:31.153129, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:31.154754, servo, srv_mech_build_prof_request(): profile type=2
, mech=1, start=44.393948, end=46.542805, direction=1, end_seg=2, lead_on_decel=
0
2011-01-04T11:46:31.156278, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:31.156851, servo, srv_utils_isr_get_response: calling sigwait,
mech=1
2011-01-04T11:46:31.182201, servo, servo - operation 0x0012 on wrist
2011-01-04T11:46:31.185557, robot, Srv_mech_parm_class::state - parmsOn = 0
2011-01-04T11:46:31.187359, servo, srv_mech_build_prof_request(): profile type=2
, mech=2, start=126.727501, end=126.721397, direction=-1, end_seg=2, lead_on_dec
el=0
2011-01-04T11:46:31.189072, servo, srv_utils_isr_send_request: Copied Request, S
et Pending, pending=1
2011-01-04T11:46:31.191089, servo, srv_utils_isr_get_response: calling sigwait,
mech=2
2011-01-04T11:46:31.192744, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:31.194388, servo, srv get_profile_resp: wrist final pos=20775 t
achs (14204 mils, 126.727501 rads), distance=0 mils, srv_status=0, result code=0
2011-01-04T11:46:31.210620, service-metrics, wrist, Time 0.000000:nan:0.000000(M
in:Avg:Max secs), MSI's=0
2011-01-04T11:46:31.221671, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:31.225240, robot, srv_user_is_reach_safe: cart present sensor=0
, reach safe sensor=1
2011-01-04T11:46:31.580259, robot, srv_utils_isr_get_response: Recieved Response
Ready Signal, ready=1
2011-01-04T11:46:31.580608, servo, srv get_profile_resp: z final pos=14763 tachs
(3417 mils, 46.379440 rads), distance=146 mils, srv_status=0, result code=0
2011-01-04T11:46:31.589406, service-metrics, z, Time 0.000241:0.000375:0.000836(
Min:Avg:Max secs), MSI's=0
AMCC PowerPC 405GP Rev. E at 198 MHz (PLB=99, OPB=49, EBC=33 MHz)
Internal PCI arbiter enabled, PCI async ext clock used
16 kB I-Cache 8 kB D-Cache
RLC DRAM size: 128
H/W rev 0
I2C: ready
DRAM: 128 MB
FLASH: 32 MB
*** Warning - bad CRC, using default environment
PCI:
while this kerneId Card Flash: CFI does not contain boot bank location. Assuming
top.
l is version 2.4number of CFI chips: 1
.18-030
WarningUsing page write method
: loading rlc_secfi_cmdset_0002: Disabling fast programming due to code brokenne
ss.
rvo will taint tId Card Flash: Found 1 x16 devices at 0x0 in 8-bit mode
he kernel: no li Amd/Fujitsu Extended Query Table at 0x0040
cense
See httId Card Flash: CFI does not contain boot bank location. Assuming top.
p://www.tux.org/number of CFI chips: 1
lkml/#export-taiUsing page write method
nted for informacfi_cmdset_0002: Disabling fast programming due to code brokenne
ss.
tion about taintcmdlinepart partition parsing not available
ed modules
WarnRedBoot partition parsing not available
ing: loading rlcUsing physmap partition definition
_servo will tainCreating 3 MTD partitions on "Id Card Flash":
t the kernel: fo0x00000000-0x007fffff : "Id Card General Use"
rced load
Using0x00800000-0x01feffff : "Id Card raw space"
/lib/modules/2.0x01ff0000-0x01ffffff : "protected space"
4.18/rlc_scan.o
insmod: Warning: kernel-module version mismatch
/lib/modules/2.4.18/rlc_scan.o was compiled for kernel version 2.4.18_mv
l30
while this kernel is version 2.4.18-030
Warning: loading rlc_scan will taint the kernel: no license
See http://www.tux.org/lkml/#export-tainted for information about tainted modu
les
Warning: loading rlc_scan will taint the kernel: forced load
Using /lib/modules/2.4.18/scsi_tgt.o
insmod: Warning: kernel-module version mismatch
/lib/modules/2.4.18/scsi_tgt.o was compiled for kernel version 2.4.18_mv
l30
while this kernel is version 2.4.18-030
Warning: loading scsi_tgt will taint the kernel: no license
See http://www.tux.org/lkml/#export-tainted for information about tainted modu
les
Warning: loading scsi_tgt will taint the kernel: forced load
Using /lib/modules/2.4.18/hwMonitor.o
insmod: Warning: kernel-module version mismatch
/lib/modules/2.4.18/hwMonitor.o was compiled for kernel version 2.4.18_m
vl30
while this kernel is version 2.4.18-030
Warning: loading hwMonitor will taint the kernel: no license
See http://www.tux.org/lkml/#export-tainted for information about tainted modu
les
Warning: loading hwMonitor will taint the kernel: forced load
Using /lib/modules/2.4.18/rlcIdcard_physmap.o
insmod: Warning: kernel-module version mismatch
/lib/modules/2.4.18/rlcIdcard_physmap.o was compiled for kernel version
2.4.18_mvl30
while this kernel is version 2.4.18-030
Warning: loading rlcIdcard_physmap will taint the kernel: forced load
See http://www.tux.org/lkml/#export-tainted for information about tainted modu
les
Using /lib/modules/2.4.18/ralloc.o
AMCC PowerPC 405GP Rev. E at 198 MHz (PLB=99, OPB=49, EBC=33 MHz)
Internal PCI arbiter enabled, PCI async ext clock used
16 kB I-Cache 8 kB D-Cache
RLC DRAM size: 128
H/W rev 0
I2C: ready
DRAM: 128 MB
FLASH: 32 MB
*** Warning - bad CRC, using default environment
PCI:
buf = 256
Done with linuxrc...
Freeing unused kernel memory: 64k init
INIT: version 2.78 booting
Using /lib/modules/2.4.18/rlcfpga.o
insmod: Warning: kernel-module version mismatch
/lib/modules/2.4.18/rlcfpga.o was compiled for kernel version 2.4.18_mvl
30
while this kernel is version 2.4.18-030
Warning: loading rlcfpga will taint the kernel: no license
See http://www.tux.org/lkml/#export-tainted for information about tainted modu
les
Warning: loading rlcfpga will taint the kernel: forced load
Useth1: PCI device 8086:1209, ing /lib/modulesBA:/2.4.18/i82559etBE:h.o
insmod: WarBE:ning: kernel-mod00:ule version mism00:atch
/lib/modu01, les/2.4.18/i8255IRQ 26.
9eth.o was compi General self-test: passed.
led for kernel v Serial sub-system self-test: passed.
ersion 2.4.18_mv Internal registers self-test: passed.
l30
while this ROM checksum self-test: passed (0x1d68d8db).
kernel is versi Receiver lock-up workaround activated.
on 2.4.18-030
Warning: loading i82559eth will taint the kernel: forced load
See http://www.tux.org/lkml/#expNVRAM bank size is 2MB
ort-tainted for information about tainted modules
Using /lib/modules/2.4.18/nvram.o
insmod: Warning: kernel-mosysfru: installed driver REV(1.01)
dule version mismatch
/lib/modules/2.4.18/nvram.o was compiled for kernel version 2.4.18_mvl30
while this kephysmap flash device: 2000000 at fe000000
rnel is version 2.4.18-030
WarnPhysically mapped flash: Found 1 x16 devices at 0x0 in 8-bit mode
ing: loading nvr Amd/Fujitsu Extended Query Table at 0x0040
am will taint thPhysically mapped flash: CFI does not contain boot bank location
. Assuming top.
e kernel: no licnumber of CFI chips: 1
ense
See httpUsing page write method
://www.tux.org/lcfi_cmdset_0002: Disabling fast programming due to code brokenne
ss.
kml/#export-taincmdlinepart partition parsing not available
ted for informatRedBoot partition parsing not available
ion about tainteUsing physmap partition definition
d modules
WarniCreating 6 MTD partitions on "Physically mapped flash":
ng: loading nvra0x00000000-0x01deffff : "ELIB work space"
m will taint the0x01df0000-0x01f2ffff : "Root disk image"
kernel: forced 0x01f30000-0x01fdffff : "Linux kernel"
load
Using /lib0x01fe0000-0x01ffffff : "PPCBoot"
/modules/2.4.18/0x00000000-0x01fbffff : "JFFS2 space"
sysfru.o
insmod0x01fc0000-0x01ffffff : "U-Boot"
: Warning: kernel-module version mismatch
/lib/modules/2.4.18/sysfru.o was compiled for kernel version 2.4.18_mvl3
0
while this kernel is version 2.4.18-030
les
Warning: loading scsi_tgt will taint the kernel: forced load
Using /lib/modules/2.4.18/hwMonitor.o
insmod: Warning: kernel-module version mismatch
/lib/modules/2.4.18/hwMonitor.o was compiled for kernel version 2.4.18_m
vl30
while this kernel is version 2.4.18-030
Warning: loading hwMonitor will taint the kernel: no license
See http://www.tux.org/lkml/#export-tainted for information about tainted modu
les
Warning: loading hwMonitor will taint the kernel: forced load
Using /lib/modules/2.4.18/rlcIdcard_physmap.o
insmod: Warning: kernel-module version mismatch
/lib/modules/2.4.18/rlcIdcard_physmap.o was compiled for kernel version
2.4.18_mvl30
while this kernel is version 2.4.18-030
Warning: loading rlcIdcard_physmap will taint the kernel: forced load
See http://www.tux.org/lkml/#export-tainted for information about tainted modu
les
Using /lib/modules/2.4.18/ralloc.o
insmod: Warning: kernel-module version mismatch
/lib/modules/2.4.18/ralloc.o was compiled for kernel version 2.4.18_mvl3
0
while this kernel is version 2.4.18-030
Warning: loading ralloc will taint the kernel: no license
See http://www.tux.org/lkml/#export-tainted for information about tainted modu
les
Warning: loading ralloc will taint the kernel: forced load
0
: expandapps() Expanding /mnt/flash/snmp.tarball /usr/local
16270+1 records in
16270+1 records out
0
: expandapps() Unzipped and extracted /usr/local/temp.tar.gz successful
ly
0
: crammount() Mounting /mnt/flash/libs.cramfs /dev/ram2 /mnt/libs
41984+0 records in
41984+0 records out
0