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  1. MAIN: Creating state container.
  2. MAIN: Creating ethercat driver.
  3. MAIN: Creating communicator.
  4. MAIN: Running main loop.
  5. ROBOT: Joint 0 in state 0.
  6. PSO: PSO 0 setReady called.
  7. JOINT: Configuring.
  8. JOINT: Joint 0: setting kpd as 0
  9. APPDRV: Writing kpd as 0
  10. JOINT: Joint 0: setting kpi as 100
  11. APPDRV: Writing kpi as 100
  12. JOINT: Joint 0: setting kpp as 100000
  13. APPDRV: Writing kpp as 160
  14. ROBOT: Joint 0 in state 2.
  15. COMM: GRPC server listening on: 0.0.0.0:50051
  16. ROBOT: Joint 1 in state 0.
  17. PSO: PSO 1 setReady called.
  18. JOINT: Configuring.
  19. JOINT: Joint 1: setting kpd as 0
  20. APPDRV: Writing kpd as 0
  21. COMM: Peripheral-IO server listening on: 0.0.0.0:50052
  22. JOINT: Joint 1: setting kpi as 100
  23. APPDRV: Writing kpi as 100
  24. JOINT: Joint 1: setting kpp as 100001
  25. APPDRV: Writing kpp as 161
  26. ROBOT: Joint 1 in state 2.
  27. ROBOT: Joint 2 in state 0.
  28. PSO: PSO 2 setReady called.
  29. JOINT: Configuring.
  30. JOINT: Joint 2: setting kpd as 0
  31. APPDRV: Writing kpd as 0
  32. JOINT: Joint 2: setting kpi as 100
  33. APPDRV: Writing kpi as 100
  34. JOINT: Joint 2: setting kpp as 100002
  35. APPDRV: Writing kpp as 162
  36. ROBOT: Joint 2 in state 2.
  37. ROBOT: Joint 3 in state 0.
  38. PSO: PSO 3 setReady called.
  39. JOINT: Configuring.
  40. JOINT: Joint 3: setting kpd as 0
  41. APPDRV: Writing kpd as 0
  42. JOINT: Joint 3: setting kpi as 100
  43. APPDRV: Writing kpi as 100
  44. JOINT: Joint 3: setting kpp as 100000
  45. APPDRV: Writing kpp as 160
  46. ROBOT: Joint 3 in state 2.
  47. ROBOT: Joint 4 in state 0.
  48. PSO: PSO 4 setReady called.
  49. JOINT: Configuring.
  50. JOINT: Joint 4: setting kpd as 0
  51. APPDRV: Writing kpd as 0
  52. JOINT: Joint 4: setting kpi as 100
  53. APPDRV: Writing kpi as 100
  54. JOINT: Joint 4: setting kpp as 100000
  55. APPDRV: Writing kpp as 160
  56. ROBOT: Joint 4 in state 2.
  57. MASTER: data 0
  58. MASTER: data 100
  59. MASTER: data 160
  60. MASTER: data 0
  61. MASTER: data 100
  62. MASTER: data 161
  63. MASTER: data 0
  64. MASTER: data 100
  65. MASTER: data 162
  66. MASTER: data 0
  67. MASTER: data 100
  68. MASTER: data 160
  69. MASTER: data 0
  70. MASTER: data 100
  71. MASTER: data 160
  72.  
  73.  
  74. COMM: Received robot run command
  75. mask {
  76. paths: "run"
  77. }
  78. robot {
  79. run: true
  80. }
  81.  
  82. COMM: Received run command.
  83. COMM: Running robot.
  84. CIA402: Enabling joint 0.
  85. CIA402: Current state: 1
  86. CIA402: Setting target state to: 5
  87. CIA402: Target state of 0 is: Cia402State::kOperationEnabled
  88. CIA402: Setting control_word of 0 to: Cia402Controlword::kNone
  89. APPDRV: Writing controlword as 0
  90. ROBOT: Joint 0 in state 3.
  91. ROBOT: Joint 0 kRunning, Robot kStopped. Enabling joint.
  92. CIA402: stop() on joint 0
  93. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  94. CIA402: Setting control_word of 0 to: Cia402Controlword::kNone
  95. APPDRV: Writing controlword as 0
  96. ROBOT: Joint 0 in state 2.
  97. CIA402: Enabling joint 1.
  98. CIA402: Current state: 1
  99. CIA402: Setting target state to: 5
  100. CIA402: Target state of 1 is: Cia402State::kOperationEnabled
  101. CIA402: Setting control_word of 1 to: Cia402Controlword::kNone
  102. APPDRV: Writing controlword as 0
  103. ROBOT: Joint 1 in state 3.
  104. ROBOT: Joint 1 kRunning, Robot kStopped. Enabling joint.
  105. CIA402: stop() on joint 1
  106. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  107. CIA402: Setting control_word of 1 to: Cia402Controlword::kNone
  108. APPDRV: Writing controlword as 0
  109. ROBOT: Joint 1 in state 2.
  110. CIA402: Enabling joint 2.
  111. CIA402: Current state: 1
  112. CIA402: Setting target state to: 5
  113. CIA402: Target state of 2 is: Cia402State::kOperationEnabled
  114. CIA402: Setting control_word of 2 to: Cia402Controlword::kNone
  115. APPDRV: Writing controlword as 0
  116. ROBOT: Joint 2 in state 3.
  117. ROBOT: Joint 2 kRunning, Robot kStopped. Enabling joint.
  118. CIA402: stop() on joint 2
  119. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  120. CIA402: Setting control_word of 2 to: Cia402Controlword::kNone
  121. APPDRV: Writing controlword as 0
  122. ROBOT: Joint 2 in state 2.
  123. CIA402: Enabling joint 3.
  124. CIA402: Current state: 1
  125. CIA402: Setting target state to: 5
  126. CIA402: Target state of 3 is: Cia402State::kOperationEnabled
  127. CIA402: Setting control_word of 3 to: Cia402Controlword::kNone
  128. APPDRV: Writing controlword as 0
  129. ROBOT: Joint 3 in state 3.
  130. ROBOT: Joint 3 kRunning, Robot kStopped. Enabling joint.
  131. CIA402: stop() on joint 3
  132. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  133. CIA402: Setting control_word of 3 to: Cia402Controlword::kNone
  134. APPDRV: Writing controlword as 0
  135. ROBOT: Joint 3 in state 2.
  136. CIA402: Enabling joint 4.
  137. CIA402: Current state: 1
  138. CIA402: Setting target state to: 5
  139. CIA402: Target state of 4 is: Cia402State::kOperationEnabled
  140. CIA402: Setting control_word of 4 to: Cia402Controlword::kNone
  141. APPDRV: Writing controlword as 0
  142. ROBOT: Joint 4 in state 3.
  143. ROBOT: Joint 4 kRunning, Robot kStopped. Enabling joint.
  144. CIA402: stop() on joint 4
  145. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  146. CIA402: Setting control_word of 4 to: Cia402Controlword::kNone
  147. APPDRV: Writing controlword as 0
  148. ROBOT: Joint 4 in state 2.
  149. COMM: Setting control mode.
  150. MASTER: data 0
  151. MASTER: data 0
  152. MASTER: data 0
  153. MASTER: data 0
  154. MASTER: data 0
  155. MASTER: Activating.
  156. MASTER: Configuring slaves.
  157. CIA402: Read statusword of joint 0 as Cia402State::kFault
  158. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  159. CIA402: Setting control_word of 0 to: Cia402Controlword::kFaultReset
  160. APPDRV: Writing controlword as 128
  161. MASTER: handleSdo()
  162. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  163. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  164. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  165. APPDRV: Writing controlword as 6
  166. CIA402: Read statusword of joint 1 as Cia402State::kFault
  167. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  168. CIA402: Setting control_word of 1 to: Cia402Controlword::kFaultReset
  169. APPDRV: Writing controlword as 128
  170. MASTER: handleSdo()
  171. CIA402: Read statusword of joint 1 as Cia402State::kSwitchOnDisabled
  172. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  173. CIA402: Setting control_word of 1 to: Cia402Controlword::kShutdown
  174. APPDRV: Writing controlword as 6
  175. CIA402: Read statusword of joint 2 as Cia402State::kFault
  176. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  177. CIA402: Setting control_word of 2 to: Cia402Controlword::kFaultReset
  178. APPDRV: Writing controlword as 128
  179. MASTER: handleSdo()
  180. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  181. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  182. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  183. APPDRV: Writing controlword as 6
  184. CIA402: Read statusword of joint 3 as Cia402State::kFault
  185. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  186. CIA402: Setting control_word of 3 to: Cia402Controlword::kFaultReset
  187. APPDRV: Writing controlword as 128
  188. MASTER: handleSdo()
  189. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  190. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  191. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  192. APPDRV: Writing controlword as 6
  193. CIA402: Read statusword of joint 4 as Cia402State::kFault
  194. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  195. CIA402: Setting control_word of 4 to: Cia402Controlword::kFaultReset
  196. APPDRV: Writing controlword as 128
  197. MASTER: handleSdo()
  198. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  199. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  200. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  201. APPDRV: Writing controlword as 6
  202. ROBOT: Setting control mode to 0.
  203. JOINT: Setting control mode of joint 0 to 0.
  204. CIA402: Setting control mode of joint 0 to 8.
  205. APPDRV: Writing modes_of_operation as 8
  206. JOINT: Setting control mode of joint 1 to 0.
  207. CIA402: Setting control mode of joint 1 to 8.
  208. APPDRV: Writing modes_of_operation as 8
  209. JOINT: Setting control mode of joint 2 to 0.
  210. CIA402: Setting control mode of joint 2 to 8.
  211. APPDRV: Writing modes_of_operation as 8
  212. JOINT: Setting control mode of joint 3 to 0.
  213. CIA402: Setting control mode of joint 3 to 8.
  214. APPDRV: Writing modes_of_operation as 8
  215. JOINT: Setting control mode of joint 4 to 0.
  216. CIA402: Setting control mode of joint 4 to 8.
  217. APPDRV: Writing modes_of_operation as 8
  218. CIA402: Read statusword of joint 0 as Cia402State::kReadyToSwitchOn
  219. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  220. CIA402: Setting control_word of 0 to: Cia402Controlword::kDisableOperation
  221. APPDRV: Writing controlword as 7
  222. CIA402: Read statusword of joint 1 as Cia402State::kReadyToSwitchOn
  223. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  224. CIA402: Setting control_word of 1 to: Cia402Controlword::kDisableOperation
  225. APPDRV: Writing controlword as 7
  226. CIA402: Read statusword of joint 4 as Cia402State::kReadyToSwitchOn
  227. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  228. CIA402: Setting control_word of 4 to: Cia402Controlword::kDisableOperation
  229. APPDRV: Writing controlword as 7
  230. CIA402: Read statusword of joint 2 as Cia402State::kReadyToSwitchOn
  231. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  232. CIA402: Setting control_word of 2 to: Cia402Controlword::kDisableOperation
  233. APPDRV: Writing controlword as 7
  234. CIA402: Read statusword of joint 3 as Cia402State::kReadyToSwitchOn
  235. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  236. CIA402: Setting control_word of 3 to: Cia402Controlword::kDisableOperation
  237. APPDRV: Writing controlword as 7
  238. CIA402: Read statusword of joint 0 as Cia402State::kSwitchedOn
  239. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  240. CIA402: Setting control_word of 0 to: Cia402Controlword::kEnableOperation
  241. APPDRV: Writing controlword as 15
  242. CIA402: Read statusword of joint 1 as Cia402State::kSwitchedOn
  243. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  244. CIA402: Setting control_word of 1 to: Cia402Controlword::kEnableOperation
  245. APPDRV: Writing controlword as 15
  246. CIA402: Read statusword of joint 4 as Cia402State::kSwitchedOn
  247. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  248. CIA402: Setting control_word of 4 to: Cia402Controlword::kEnableOperation
  249. APPDRV: Writing controlword as 15
  250. CIA402: Read statusword of joint 2 as Cia402State::kSwitchedOn
  251. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  252. CIA402: Setting control_word of 2 to: Cia402Controlword::kEnableOperation
  253. APPDRV: Writing controlword as 15
  254. CIA402: Read statusword of joint 3 as Cia402State::kSwitchedOn
  255. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  256. CIA402: Setting control_word of 3 to: Cia402Controlword::kEnableOperation
  257. APPDRV: Writing controlword as 15
  258. CIA402: Read statusword of joint 0 as Cia402State::kOperationEnabled
  259. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  260. CIA402: Setting control_word of 0 to: Cia402Controlword::kQuickStop
  261. APPDRV: Writing controlword as 2
  262. SYNAPT: Joint 0
  263. SYNAPT: inPositionControlMode 1
  264. SYNAPT: inOperationEnabledState 1
  265. JOINT: Setting target position of joint 0 to 1725.
  266. APPDRV: Writing target_position as 189
  267. SYNAPT: Setting joint 0 target to 1725.
  268. SYNAPT: Confirm: target to 1725.
  269. CIA402: Read statusword of joint 1 as Cia402State::kOperationEnabled
  270. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  271. CIA402: Setting control_word of 1 to: Cia402Controlword::kQuickStop
  272. APPDRV: Writing controlword as 2
  273. SYNAPT: Joint 1
  274. SYNAPT: inPositionControlMode 1
  275. SYNAPT: inOperationEnabledState 1
  276. JOINT: Setting target position of joint 1 to 2579.
  277. APPDRV: Writing target_position as 19
  278. SYNAPT: Setting joint 1 target to 2579.
  279. SYNAPT: Confirm: target to 2579.
  280. CIA402: Read statusword of joint 4 as Cia402State::kOperationEnabled
  281. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  282. CIA402: Setting control_word of 4 to: Cia402Controlword::kQuickStop
  283. APPDRV: Writing controlword as 2
  284. SYNAPT: Joint 4
  285. SYNAPT: inPositionControlMode 1
  286. SYNAPT: inOperationEnabledState 1
  287. JOINT: Setting target position of joint 4 to -5648.
  288. APPDRV: Writing target_position as 240
  289. SYNAPT: Setting joint 4 target to -5648.
  290. SYNAPT: Confirm: target to -5648.
  291. CIA402: Read statusword of joint 2 as Cia402State::kOperationEnabled
  292. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  293. CIA402: Setting control_word of 2 to: Cia402Controlword::kQuickStop
  294. APPDRV: Writing controlword as 2
  295. SYNAPT: Joint 2
  296. SYNAPT: inPositionControlMode 1
  297. SYNAPT: inOperationEnabledState 1
  298. JOINT: Setting target position of joint 2 to 6085.
  299. APPDRV: Writing target_position as 197
  300. SYNAPT: Setting joint 2 target to 6085.
  301. SYNAPT: Confirm: target to 6085.
  302. CIA402: Read statusword of joint 3 as Cia402State::kOperationEnabled
  303. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  304. CIA402: Setting control_word of 3 to: Cia402Controlword::kQuickStop
  305. APPDRV: Writing controlword as 2
  306. SYNAPT: Joint 3
  307. SYNAPT: inPositionControlMode 1
  308. SYNAPT: inOperationEnabledState 1
  309. JOINT: Setting target position of joint 3 to 497.
  310. APPDRV: Writing target_position as 241
  311. SYNAPT: Setting joint 3 target to 497.
  312. SYNAPT: Confirm: target to 497.
  313. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  314. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  315. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  316. APPDRV: Writing controlword as 6
  317. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  318. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  319. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  320. APPDRV: Writing controlword as 6
  321. CIA402: Read statusword of joint 1 as Cia402State::kQuickStopActive
  322. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  323. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  324. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  325. APPDRV: Writing controlword as 6
  326. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  327. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  328. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  329. APPDRV: Writing controlword as 6
  330. CIA402: Read statusword of joint 3 as Cia402State::kQuickStopActive
  331. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  332. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  333. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  334. APPDRV: Writing controlword as 6
  335. CIA402: Read statusword of joint 0 as Cia402State::kReadyToSwitchOn
  336. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  337. CIA402: Setting control_word of 0 to: Cia402Controlword::kDisableOperation
  338. APPDRV: Writing controlword as 7
  339. CIA402: Read statusword of joint 4 as Cia402State::kReadyToSwitchOn
  340. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  341. CIA402: Setting control_word of 4 to: Cia402Controlword::kDisableOperation
  342. APPDRV: Writing controlword as 7
  343. CIA402: Read statusword of joint 1 as Cia402State::kSwitchOnDisabled
  344. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  345. CIA402: Setting control_word of 1 to: Cia402Controlword::kShutdown
  346. APPDRV: Writing controlword as 6
  347. CIA402: Read statusword of joint 2 as Cia402State::kReadyToSwitchOn
  348. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  349. CIA402: Setting control_word of 2 to: Cia402Controlword::kDisableOperation
  350. APPDRV: Writing controlword as 7
  351. CIA402: Read statusword of joint 0 as Cia402State::kSwitchedOn
  352. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  353. CIA402: Setting control_word of 0 to: Cia402Controlword::kEnableOperation
  354. APPDRV: Writing controlword as 15
  355. CIA402: Read statusword of joint 3 as Cia402State::kReadyToSwitchOn
  356. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  357. CIA402: Setting control_word of 3 to: Cia402Controlword::kDisableOperation
  358. APPDRV: Writing controlword as 7
  359. CIA402: Read statusword of joint 4 as Cia402State::kSwitchedOn
  360. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  361. CIA402: Setting control_word of 4 to: Cia402Controlword::kEnableOperation
  362. APPDRV: Writing controlword as 15
  363. CIA402: Read statusword of joint 2 as Cia402State::kSwitchedOn
  364. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  365. CIA402: Setting control_word of 2 to: Cia402Controlword::kEnableOperation
  366. APPDRV: Writing controlword as 15
  367. CIA402: Read statusword of joint 1 as Cia402State::kReadyToSwitchOn
  368. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  369. CIA402: Setting control_word of 1 to: Cia402Controlword::kDisableOperation
  370. APPDRV: Writing controlword as 7
  371. CIA402: Read statusword of joint 0 as Cia402State::kOperationEnabled
  372. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  373. CIA402: Setting control_word of 0 to: Cia402Controlword::kQuickStop
  374. APPDRV: Writing controlword as 2
  375. SYNAPT: Joint 0
  376. SYNAPT: inPositionControlMode 1
  377. SYNAPT: inOperationEnabledState 1
  378. JOINT: Setting target position of joint 0 to 1725.
  379. APPDRV: Writing target_position as 189
  380. SYNAPT: Setting joint 0 target to 1725.
  381. SYNAPT: Confirm: target to 1725.
  382. CIA402: Read statusword of joint 3 as Cia402State::kSwitchedOn
  383. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  384. CIA402: Setting control_word of 3 to: Cia402Controlword::kEnableOperation
  385. APPDRV: Writing controlword as 15
  386. CIA402: Read statusword of joint 4 as Cia402State::kOperationEnabled
  387. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  388. CIA402: Setting control_word of 4 to: Cia402Controlword::kQuickStop
  389. APPDRV: Writing controlword as 2
  390. SYNAPT: Joint 4
  391. SYNAPT: inPositionControlMode 1
  392. SYNAPT: inOperationEnabledState 1
  393. JOINT: Setting target position of joint 4 to -5650.
  394. APPDRV: Writing target_position as 238
  395. SYNAPT: Setting joint 4 target to -5650.
  396. SYNAPT: Confirm: target to -5650.
  397. CIA402: Read statusword of joint 2 as Cia402State::kOperationEnabled
  398. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  399. CIA402: Setting control_word of 2 to: Cia402Controlword::kQuickStop
  400. APPDRV: Writing controlword as 2
  401. SYNAPT: Joint 2
  402. SYNAPT: inPositionControlMode 1
  403. SYNAPT: inOperationEnabledState 1
  404. JOINT: Setting target position of joint 2 to 6113.
  405. APPDRV: Writing target_position as 225
  406. SYNAPT: Setting joint 2 target to 6113.
  407. SYNAPT: Confirm: target to 6113.
  408. CIA402: Read statusword of joint 1 as Cia402State::kSwitchedOn
  409. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  410. CIA402: Setting control_word of 1 to: Cia402Controlword::kEnableOperation
  411. APPDRV: Writing controlword as 15
  412. CIA402: Read statusword of joint 3 as Cia402State::kOperationEnabled
  413. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  414. CIA402: Setting control_word of 3 to: Cia402Controlword::kQuickStop
  415. APPDRV: Writing controlword as 2
  416. SYNAPT: Joint 3
  417. SYNAPT: inPositionControlMode 1
  418. SYNAPT: inOperationEnabledState 1
  419. JOINT: Setting target position of joint 3 to 498.
  420. APPDRV: Writing target_position as 242
  421. SYNAPT: Setting joint 3 target to 498.
  422. SYNAPT: Confirm: target to 498.
  423. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  424. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  425. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  426. APPDRV: Writing controlword as 6
  427. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  428. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  429. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  430. APPDRV: Writing controlword as 6
  431. CIA402: Read statusword of joint 1 as Cia402State::kOperationEnabled
  432. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  433. CIA402: Setting control_word of 1 to: Cia402Controlword::kQuickStop
  434. APPDRV: Writing controlword as 2
  435. SYNAPT: Joint 1
  436. SYNAPT: inPositionControlMode 1
  437. SYNAPT: inOperationEnabledState 1
  438. JOINT: Setting target position of joint 1 to 2570.
  439. APPDRV: Writing target_position as 10
  440. SYNAPT: Setting joint 1 target to 2570.
  441. SYNAPT: Confirm: target to 2570.
  442. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  443. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  444. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  445. APPDRV: Writing controlword as 6
  446. CIA402: Read statusword of joint 3 as Cia402State::kQuickStopActive
  447. CIA402: Read statusword of joint 0 as Cia402State::kReadyToSwitchOn
  448. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  449. CIA402: Setting control_word of 0 to: Cia402Controlword::kDisableOperation
  450. APPDRV: Writing controlword as 7
  451. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  452. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  453. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  454. APPDRV: Writing controlword as 6
  455. CIA402: Read statusword of joint 4 as Cia402State::kReadyToSwitchOn
  456. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  457. CIA402: Setting control_word of 4 to: Cia402Controlword::kDisableOperation
  458. APPDRV: Writing controlword as 7
  459. CIA402: Read statusword of joint 1 as Cia402State::kQuickStopActive
  460. CIA402: Read statusword of joint 2 as Cia402State::kReadyToSwitchOn
  461. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  462. CIA402: Setting control_word of 2 to: Cia402Controlword::kDisableOperation
  463. APPDRV: Writing controlword as 7
  464. CIA402: Read statusword of joint 0 as Cia402State::kSwitchedOn
  465. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  466. CIA402: Setting control_word of 0 to: Cia402Controlword::kEnableOperation
  467. APPDRV: Writing controlword as 15
  468. CIA402: Read statusword of joint 4 as Cia402State::kSwitchedOn
  469. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  470. CIA402: Setting control_word of 4 to: Cia402Controlword::kEnableOperation
  471. APPDRV: Writing controlword as 15
  472. CIA402: Read statusword of joint 2 as Cia402State::kSwitchedOn
  473. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  474. CIA402: Setting control_word of 2 to: Cia402Controlword::kEnableOperation
  475. APPDRV: Writing controlword as 15
  476. CIA402: Read statusword of joint 3 as Cia402State::kReadyToSwitchOn
  477. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  478. CIA402: Setting control_word of 3 to: Cia402Controlword::kDisableOperation
  479. APPDRV: Writing controlword as 7
  480. CIA402: Read statusword of joint 0 as Cia402State::kOperationEnabled
  481. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  482. CIA402: Setting control_word of 0 to: Cia402Controlword::kQuickStop
  483. APPDRV: Writing controlword as 2
  484. SYNAPT: Joint 0
  485. SYNAPT: inPositionControlMode 1
  486. SYNAPT: inOperationEnabledState 1
  487. JOINT: Setting target position of joint 0 to 1726.
  488. APPDRV: Writing target_position as 190
  489. SYNAPT: Setting joint 0 target to 1726.
  490. SYNAPT: Confirm: target to 1726.
  491. CIA402: Read statusword of joint 4 as Cia402State::kOperationEnabled
  492. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  493. CIA402: Setting control_word of 4 to: Cia402Controlword::kQuickStop
  494. APPDRV: Writing controlword as 2
  495. SYNAPT: Joint 4
  496. SYNAPT: inPositionControlMode 1
  497. SYNAPT: inOperationEnabledState 1
  498. JOINT: Setting target position of joint 4 to -5649.
  499. APPDRV: Writing target_position as 239
  500. SYNAPT: Setting joint 4 target to -5649.
  501. SYNAPT: Confirm: target to -5649.
  502. CIA402: Read statusword of joint 2 as Cia402State::kOperationEnabled
  503. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  504. CIA402: Setting control_word of 2 to: Cia402Controlword::kQuickStop
  505. APPDRV: Writing controlword as 2
  506. SYNAPT: Joint 2
  507. SYNAPT: inPositionControlMode 1
  508. SYNAPT: inOperationEnabledState 1
  509. JOINT: Setting target position of joint 2 to 6113.
  510. APPDRV: Writing target_position as 225
  511. SYNAPT: Setting joint 2 target to 6113.
  512. SYNAPT: Confirm: target to 6113.
  513. CIA402: Read statusword of joint 3 as Cia402State::kSwitchedOn
  514. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  515. CIA402: Setting control_word of 3 to: Cia402Controlword::kEnableOperation
  516. APPDRV: Writing controlword as 15
  517. CIA402: Read statusword of joint 1 as Cia402State::kSwitchOnDisabled
  518. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  519. CIA402: Setting control_word of 1 to: Cia402Controlword::kShutdown
  520. APPDRV: Writing controlword as 6
  521. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  522. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  523. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  524. APPDRV: Writing controlword as 6
  525. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  526. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  527. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  528. APPDRV: Writing controlword as 6
  529. CIA402: Read statusword of joint 3 as Cia402State::kOperationEnabled
  530. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  531. CIA402: Setting control_word of 3 to: Cia402Controlword::kQuickStop
  532. APPDRV: Writing controlword as 2
  533. SYNAPT: Joint 3
  534. SYNAPT: inPositionControlMode 1
  535. SYNAPT: inOperationEnabledState 1
  536. JOINT: Setting target position of joint 3 to 501.
  537. APPDRV: Writing target_position as 245
  538. SYNAPT: Setting joint 3 target to 501.
  539. SYNAPT: Confirm: target to 501.
  540. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  541. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  542. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  543. APPDRV: Writing controlword as 6
  544. CIA402: Read statusword of joint 1 as Cia402State::kReadyToSwitchOn
  545. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  546. CIA402: Setting control_word of 1 to: Cia402Controlword::kDisableOperation
  547. APPDRV: Writing controlword as 7
  548. CIA402: Read statusword of joint 0 as Cia402State::kReadyToSwitchOn
  549. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  550. CIA402: Setting control_word of 0 to: Cia402Controlword::kDisableOperation
  551. APPDRV: Writing controlword as 7
  552. CIA402: Read statusword of joint 4 as Cia402State::kReadyToSwitchOn
  553. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  554. CIA402: Setting control_word of 4 to: Cia402Controlword::kDisableOperation
  555. APPDRV: Writing controlword as 7
  556. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  557. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  558. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  559. APPDRV: Writing controlword as 6
  560. CIA402: Read statusword of joint 2 as Cia402State::kReadyToSwitchOn
  561. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  562. CIA402: Setting control_word of 2 to: Cia402Controlword::kDisableOperation
  563. APPDRV: Writing controlword as 7
  564. CIA402: Read statusword of joint 1 as Cia402State::kSwitchedOn
  565. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  566. CIA402: Setting control_word of 1 to: Cia402Controlword::kEnableOperation
  567. APPDRV: Writing controlword as 15
  568. CIA402: Read statusword of joint 0 as Cia402State::kSwitchedOn
  569. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  570. CIA402: Setting control_word of 0 to: Cia402Controlword::kEnableOperation
  571. APPDRV: Writing controlword as 15
  572. CIA402: Read statusword of joint 4 as Cia402State::kSwitchedOn
  573. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  574. CIA402: Setting control_word of 4 to: Cia402Controlword::kEnableOperation
  575. APPDRV: Writing controlword as 15
  576. CIA402: Read statusword of joint 2 as Cia402State::kSwitchedOn
  577. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  578. CIA402: Setting control_word of 2 to: Cia402Controlword::kEnableOperation
  579. APPDRV: Writing controlword as 15
  580. CIA402: Read statusword of joint 1 as Cia402State::kOperationEnabled
  581. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  582. CIA402: Setting control_word of 1 to: Cia402Controlword::kQuickStop
  583. APPDRV: Writing controlword as 2
  584. SYNAPT: Joint 1
  585. SYNAPT: inPositionControlMode 1
  586. SYNAPT: inOperationEnabledState 1
  587. JOINT: Setting target position of joint 1 to 2570.
  588. APPDRV: Writing target_position as 10
  589. SYNAPT: Setting joint 1 target to 2570.
  590. SYNAPT: Confirm: target to 2570.
  591. CIA402: Read statusword of joint 3 as Cia402State::kReadyToSwitchOn
  592. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  593. CIA402: Setting control_word of 3 to: Cia402Controlword::kDisableOperation
  594. APPDRV: Writing controlword as 7
  595. CIA402: Read statusword of joint 0 as Cia402State::kOperationEnabled
  596. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  597. CIA402: Setting control_word of 0 to: Cia402Controlword::kQuickStop
  598. APPDRV: Writing controlword as 2
  599. SYNAPT: Joint 0
  600. SYNAPT: inPositionControlMode 1
  601. SYNAPT: inOperationEnabledState 1
  602. JOINT: Setting target position of joint 0 to 1728.
  603. APPDRV: Writing target_position as 192
  604. SYNAPT: Setting joint 0 target to 1728.
  605. SYNAPT: Confirm: target to 1728.
  606. CIA402: Read statusword of joint 4 as Cia402State::kOperationEnabled
  607. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  608. CIA402: Setting control_word of 4 to: Cia402Controlword::kQuickStop
  609. APPDRV: Writing controlword as 2
  610. SYNAPT: Joint 4
  611. SYNAPT: inPositionControlMode 1
  612. SYNAPT: inOperationEnabledState 1
  613. JOINT: Setting target position of joint 4 to -5651.
  614. APPDRV: Writing target_position as 237
  615. SYNAPT: Setting joint 4 target to -5651.
  616. SYNAPT: Confirm: target to -5651.
  617. CIA402: Read statusword of joint 2 as Cia402State::kOperationEnabled
  618. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  619. CIA402: Setting control_word of 2 to: Cia402Controlword::kQuickStop
  620. APPDRV: Writing controlword as 2
  621. SYNAPT: Joint 2
  622. SYNAPT: inPositionControlMode 1
  623. SYNAPT: inOperationEnabledState 1
  624. JOINT: Setting target position of joint 2 to 6113.
  625. APPDRV: Writing target_position as 225
  626. SYNAPT: Setting joint 2 target to 6113.
  627. SYNAPT: Confirm: target to 6113.
  628. CIA402: Read statusword of joint 3 as Cia402State::kSwitchedOn
  629. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  630. CIA402: Setting control_word of 3 to: Cia402Controlword::kEnableOperation
  631. APPDRV: Writing controlword as 15
  632. CIA402: Read statusword of joint 1 as Cia402State::kQuickStopActive
  633. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  634. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  635. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  636. APPDRV: Writing controlword as 6
  637. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  638. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  639. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  640. APPDRV: Writing controlword as 6
  641. CIA402: Read statusword of joint 1 as Cia402State::kSwitchOnDisabled
  642. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  643. CIA402: Setting control_word of 1 to: Cia402Controlword::kShutdown
  644. APPDRV: Writing controlword as 6
  645. CIA402: Read statusword of joint 3 as Cia402State::kOperationEnabled
  646. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  647. CIA402: Setting control_word of 3 to: Cia402Controlword::kQuickStop
  648. APPDRV: Writing controlword as 2
  649. SYNAPT: Joint 3
  650. SYNAPT: inPositionControlMode 1
  651. SYNAPT: inOperationEnabledState 1
  652. JOINT: Setting target position of joint 3 to 502.
  653. APPDRV: Writing target_position as 246
  654. SYNAPT: Setting joint 3 target to 502.
  655. SYNAPT: Confirm: target to 502.
  656. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  657. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  658. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  659. APPDRV: Writing controlword as 6
  660. CIA402: Read statusword of joint 0 as Cia402State::kReadyToSwitchOn
  661. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  662. CIA402: Setting control_word of 0 to: Cia402Controlword::kDisableOperation
  663. APPDRV: Writing controlword as 7
  664. CIA402: Read statusword of joint 4 as Cia402State::kReadyToSwitchOn
  665. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  666. CIA402: Setting control_word of 4 to: Cia402Controlword::kDisableOperation
  667. APPDRV: Writing controlword as 7
  668. CIA402: Read statusword of joint 1 as Cia402State::kReadyToSwitchOn
  669. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  670. CIA402: Setting control_word of 1 to: Cia402Controlword::kDisableOperation
  671. APPDRV: Writing controlword as 7
  672. CIA402: Read statusword of joint 0 as Cia402State::kSwitchedOn
  673. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  674. CIA402: Setting control_word of 0 to: Cia402Controlword::kEnableOperation
  675. APPDRV: Writing controlword as 15
  676. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  677. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  678. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  679. APPDRV: Writing controlword as 6
  680. CIA402: Read statusword of joint 2 as Cia402State::kReadyToSwitchOn
  681. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  682. CIA402: Setting control_word of 2 to: Cia402Controlword::kDisableOperation
  683. APPDRV: Writing controlword as 7
  684. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  685. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  686. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  687. APPDRV: Writing controlword as 6
  688. CIA402: Read statusword of joint 4 as Cia402State::kSwitchedOn
  689. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  690. CIA402: Setting control_word of 4 to: Cia402Controlword::kEnableOperation
  691. APPDRV: Writing controlword as 15
  692. CIA402: Read statusword of joint 1 as Cia402State::kSwitchedOn
  693. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  694. CIA402: Setting control_word of 1 to: Cia402Controlword::kEnableOperation
  695. APPDRV: Writing controlword as 15
  696. CIA402: Read statusword of joint 0 as Cia402State::kOperationEnabled
  697. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  698. CIA402: Setting control_word of 0 to: Cia402Controlword::kQuickStop
  699. APPDRV: Writing controlword as 2
  700. SYNAPT: Joint 0
  701. SYNAPT: inPositionControlMode 1
  702. SYNAPT: inOperationEnabledState 1
  703. JOINT: Setting target position of joint 0 to 1728.
  704. APPDRV: Writing target_position as 192
  705. SYNAPT: Setting joint 0 target to 1728.
  706. SYNAPT: Confirm: target to 1728.
  707. CIA402: Read statusword of joint 2 as Cia402State::kSwitchedOn
  708. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  709. CIA402: Setting control_word of 2 to: Cia402Controlword::kEnableOperation
  710. APPDRV: Writing controlword as 15
  711. CIA402: Read statusword of joint 3 as Cia402State::kReadyToSwitchOn
  712. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  713. CIA402: Setting control_word of 3 to: Cia402Controlword::kDisableOperation
  714. APPDRV: Writing controlword as 7
  715. CIA402: Read statusword of joint 4 as Cia402State::kOperationEnabled
  716. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  717. CIA402: Setting control_word of 4 to: Cia402Controlword::kQuickStop
  718. APPDRV: Writing controlword as 2
  719. SYNAPT: Joint 4
  720. SYNAPT: inPositionControlMode 1
  721. SYNAPT: inOperationEnabledState 1
  722. JOINT: Setting target position of joint 4 to -5650.
  723. APPDRV: Writing target_position as 238
  724. SYNAPT: Setting joint 4 target to -5650.
  725. SYNAPT: Confirm: target to -5650.
  726. CIA402: Read statusword of joint 1 as Cia402State::kOperationEnabled
  727. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  728. CIA402: Setting control_word of 1 to: Cia402Controlword::kQuickStop
  729. APPDRV: Writing controlword as 2
  730. SYNAPT: Joint 1
  731. SYNAPT: inPositionControlMode 1
  732. SYNAPT: inOperationEnabledState 1
  733. JOINT: Setting target position of joint 1 to 2578.
  734. APPDRV: Writing target_position as 18
  735. SYNAPT: Setting joint 1 target to 2578.
  736. SYNAPT: Confirm: target to 2578.
  737. CIA402: Read statusword of joint 2 as Cia402State::kOperationEnabled
  738. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  739. CIA402: Setting control_word of 2 to: Cia402Controlword::kQuickStop
  740. APPDRV: Writing controlword as 2
  741. SYNAPT: Joint 2
  742. SYNAPT: inPositionControlMode 1
  743. SYNAPT: inOperationEnabledState 1
  744. JOINT: Setting target position of joint 2 to 6112.
  745. APPDRV: Writing target_position as 224
  746. SYNAPT: Setting joint 2 target to 6112.
  747. SYNAPT: Confirm: target to 6112.
  748. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  749. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  750. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  751. APPDRV: Writing controlword as 6
  752. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  753. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  754. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  755. APPDRV: Writing controlword as 6
  756. CIA402: Read statusword of joint 3 as Cia402State::kSwitchedOn
  757. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  758. CIA402: Setting control_word of 3 to: Cia402Controlword::kEnableOperation
  759. APPDRV: Writing controlword as 15
  760. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  761. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  762. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  763. APPDRV: Writing controlword as 6
  764. CIA402: Read statusword of joint 1 as Cia402State::kQuickStopActive
  765. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  766. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  767. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  768. APPDRV: Writing controlword as 6
  769. CIA402: Read statusword of joint 0 as Cia402State::kReadyToSwitchOn
  770. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  771. CIA402: Setting control_word of 0 to: Cia402Controlword::kDisableOperation
  772. APPDRV: Writing controlword as 7
  773. CIA402: Read statusword of joint 3 as Cia402State::kOperationEnabled
  774. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  775. CIA402: Setting control_word of 3 to: Cia402Controlword::kQuickStop
  776. APPDRV: Writing controlword as 2
  777. SYNAPT: Joint 3
  778. SYNAPT: inPositionControlMode 1
  779. SYNAPT: inOperationEnabledState 1
  780. JOINT: Setting target position of joint 3 to 502.
  781. APPDRV: Writing target_position as 246
  782. SYNAPT: Setting joint 3 target to 502.
  783. SYNAPT: Confirm: target to 502.
  784. CIA402: Read statusword of joint 4 as Cia402State::kReadyToSwitchOn
  785. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  786. CIA402: Setting control_word of 4 to: Cia402Controlword::kDisableOperation
  787. APPDRV: Writing controlword as 7
  788. CIA402: Read statusword of joint 0 as Cia402State::kSwitchedOn
  789. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  790. CIA402: Setting control_word of 0 to: Cia402Controlword::kEnableOperation
  791. APPDRV: Writing controlword as 15
  792. CIA402: Read statusword of joint 1 as Cia402State::kSwitchOnDisabled
  793. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  794. CIA402: Setting control_word of 1 to: Cia402Controlword::kShutdown
  795. APPDRV: Writing controlword as 6
  796. CIA402: Read statusword of joint 2 as Cia402State::kReadyToSwitchOn
  797. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  798. CIA402: Setting control_word of 2 to: Cia402Controlword::kDisableOperation
  799. APPDRV: Writing controlword as 7
  800. CIA402: Read statusword of joint 4 as Cia402State::kSwitchedOn
  801. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  802. CIA402: Setting control_word of 4 to: Cia402Controlword::kEnableOperation
  803. APPDRV: Writing controlword as 15
  804. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  805. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  806. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  807. APPDRV: Writing controlword as 6
  808. CIA402: Read statusword of joint 0 as Cia402State::kOperationEnabled
  809. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  810. CIA402: Setting control_word of 0 to: Cia402Controlword::kQuickStop
  811. APPDRV: Writing controlword as 2
  812. SYNAPT: Joint 0
  813. SYNAPT: inPositionControlMode 1
  814. SYNAPT: inOperationEnabledState 1
  815. JOINT: Setting target position of joint 0 to 1725.
  816. APPDRV: Writing target_position as 189
  817. SYNAPT: Setting joint 0 target to 1725.
  818. SYNAPT: Confirm: target to 1725.
  819. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  820. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  821. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  822. APPDRV: Writing controlword as 6
  823. CIA402: Read statusword of joint 2 as Cia402State::kSwitchedOn
  824. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  825. CIA402: Setting control_word of 2 to: Cia402Controlword::kEnableOperation
  826. APPDRV: Writing controlword as 15
  827. CIA402: Read statusword of joint 1 as Cia402State::kReadyToSwitchOn
  828. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  829. CIA402: Setting control_word of 1 to: Cia402Controlword::kDisableOperation
  830. APPDRV: Writing controlword as 7
  831. CIA402: Read statusword of joint 4 as Cia402State::kOperationEnabled
  832. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  833. CIA402: Setting control_word of 4 to: Cia402Controlword::kQuickStop
  834. APPDRV: Writing controlword as 2
  835. SYNAPT: Joint 4
  836. SYNAPT: inPositionControlMode 1
  837. SYNAPT: inOperationEnabledState 1
  838. JOINT: Setting target position of joint 4 to -5652.
  839. APPDRV: Writing target_position as 236
  840. SYNAPT: Setting joint 4 target to -5652.
  841. SYNAPT: Confirm: target to -5652.
  842. CIA402: Read statusword of joint 3 as Cia402State::kReadyToSwitchOn
  843. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  844. CIA402: Setting control_word of 3 to: Cia402Controlword::kDisableOperation
  845. APPDRV: Writing controlword as 7
  846. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  847. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  848. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  849. APPDRV: Writing controlword as 6
  850. CIA402: Read statusword of joint 2 as Cia402State::kOperationEnabled
  851. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  852. CIA402: Setting control_word of 2 to: Cia402Controlword::kQuickStop
  853. APPDRV: Writing controlword as 2
  854. SYNAPT: Joint 2
  855. SYNAPT: inPositionControlMode 1
  856. SYNAPT: inOperationEnabledState 1
  857. JOINT: Setting target position of joint 2 to 6115.
  858. APPDRV: Writing target_position as 227
  859. SYNAPT: Setting joint 2 target to 6115.
  860. SYNAPT: Confirm: target to 6115.
  861. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  862. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  863. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  864. APPDRV: Writing controlword as 6
  865. CIA402: Read statusword of joint 1 as Cia402State::kSwitchedOn
  866. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  867. CIA402: Setting control_word of 1 to: Cia402Controlword::kEnableOperation
  868. APPDRV: Writing controlword as 15
  869. CIA402: Read statusword of joint 3 as Cia402State::kSwitchedOn
  870. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  871. CIA402: Setting control_word of 3 to: Cia402Controlword::kEnableOperation
  872. APPDRV: Writing controlword as 15
  873. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  874. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  875. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  876. APPDRV: Writing controlword as 6
  877. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  878. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  879. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  880. APPDRV: Writing controlword as 6
  881. CIA402: Read statusword of joint 0 as Cia402State::kReadyToSwitchOn
  882. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  883. CIA402: Setting control_word of 0 to: Cia402Controlword::kDisableOperation
  884. APPDRV: Writing controlword as 7
  885. CIA402: Read statusword of joint 1 as Cia402State::kOperationEnabled
  886. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  887. CIA402: Setting control_word of 1 to: Cia402Controlword::kQuickStop
  888. APPDRV: Writing controlword as 2
  889. SYNAPT: Joint 1
  890. SYNAPT: inPositionControlMode 1
  891. SYNAPT: inOperationEnabledState 1
  892. JOINT: Setting target position of joint 1 to 2560.
  893. APPDRV: Writing target_position as 0
  894. SYNAPT: Setting joint 1 target to 2560.
  895. SYNAPT: Confirm: target to 2560.
  896. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  897. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  898. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  899. APPDRV: Writing controlword as 6
  900. CIA402: Read statusword of joint 3 as Cia402State::kOperationEnabled
  901. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  902. CIA402: Setting control_word of 3 to: Cia402Controlword::kQuickStop
  903. APPDRV: Writing controlword as 2
  904. SYNAPT: Joint 3
  905. SYNAPT: inPositionControlMode 1
  906. SYNAPT: inOperationEnabledState 1
  907. JOINT: Setting target position of joint 3 to 500.
  908. APPDRV: Writing target_position as 244
  909. SYNAPT: Setting joint 3 target to 500.
  910. SYNAPT: Confirm: target to 500.
  911. CIA402: Read statusword of joint 0 as Cia402State::kSwitchedOn
  912. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  913. CIA402: Setting control_word of 0 to: Cia402Controlword::kEnableOperation
  914. APPDRV: Writing controlword as 15
  915. CIA402: Read statusword of joint 4 as Cia402State::kReadyToSwitchOn
  916. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  917. CIA402: Setting control_word of 4 to: Cia402Controlword::kDisableOperation
  918. APPDRV: Writing controlword as 7
  919. CIA402: Read statusword of joint 1 as Cia402State::kQuickStopActive
  920. CIA402: Read statusword of joint 2 as Cia402State::kReadyToSwitchOn
  921. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  922. CIA402: Setting control_word of 2 to: Cia402Controlword::kDisableOperation
  923. APPDRV: Writing controlword as 7
  924. CIA402: Read statusword of joint 0 as Cia402State::kOperationEnabled
  925. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  926. CIA402: Setting control_word of 0 to: Cia402Controlword::kQuickStop
  927. APPDRV: Writing controlword as 2
  928. SYNAPT: Joint 0
  929. SYNAPT: inPositionControlMode 1
  930. SYNAPT: inOperationEnabledState 1
  931. JOINT: Setting target position of joint 0 to 1726.
  932. APPDRV: Writing target_position as 190
  933. SYNAPT: Setting joint 0 target to 1726.
  934. SYNAPT: Confirm: target to 1726.
  935. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  936. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  937. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  938. APPDRV: Writing controlword as 6
  939. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  940. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  941. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  942. APPDRV: Writing controlword as 6
  943. CIA402: Read statusword of joint 4 as Cia402State::kSwitchedOn
  944. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  945. CIA402: Setting control_word of 4 to: Cia402Controlword::kEnableOperation
  946. APPDRV: Writing controlword as 15
  947. CIA402: Read statusword of joint 2 as Cia402State::kSwitchedOn
  948. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  949. CIA402: Setting control_word of 2 to: Cia402Controlword::kEnableOperation
  950. APPDRV: Writing controlword as 15
  951. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  952. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  953. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  954. APPDRV: Writing controlword as 6
  955. CIA402: Read statusword of joint 1 as Cia402State::kSwitchOnDisabled
  956. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  957. CIA402: Setting control_word of 1 to: Cia402Controlword::kShutdown
  958. APPDRV: Writing controlword as 6
  959. CIA402: Read statusword of joint 3 as Cia402State::kReadyToSwitchOn
  960. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  961. CIA402: Setting control_word of 3 to: Cia402Controlword::kDisableOperation
  962. APPDRV: Writing controlword as 7
  963. CIA402: Read statusword of joint 4 as Cia402State::kOperationEnabled
  964. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  965. CIA402: Setting control_word of 4 to: Cia402Controlword::kQuickStop
  966. APPDRV: Writing controlword as 2
  967. SYNAPT: Joint 4
  968. SYNAPT: inPositionControlMode 1
  969. SYNAPT: inOperationEnabledState 1
  970. JOINT: Setting target position of joint 4 to -5649.
  971. APPDRV: Writing target_position as 239
  972. SYNAPT: Setting joint 4 target to -5649.
  973. SYNAPT: Confirm: target to -5649.
  974. CIA402: Read statusword of joint 2 as Cia402State::kOperationEnabled
  975. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  976. CIA402: Setting control_word of 2 to: Cia402Controlword::kQuickStop
  977. APPDRV: Writing controlword as 2
  978. SYNAPT: Joint 2
  979. SYNAPT: inPositionControlMode 1
  980. SYNAPT: inOperationEnabledState 1
  981. JOINT: Setting target position of joint 2 to 6112.
  982. APPDRV: Writing target_position as 224
  983. SYNAPT: Setting joint 2 target to 6112.
  984. SYNAPT: Confirm: target to 6112.
  985. CIA402: Read statusword of joint 3 as Cia402State::kSwitchedOn
  986. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  987. CIA402: Setting control_word of 3 to: Cia402Controlword::kEnableOperation
  988. APPDRV: Writing controlword as 15
  989. CIA402: Read statusword of joint 0 as Cia402State::kReadyToSwitchOn
  990. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  991. CIA402: Setting control_word of 0 to: Cia402Controlword::kDisableOperation
  992. APPDRV: Writing controlword as 7
  993. CIA402: Read statusword of joint 1 as Cia402State::kReadyToSwitchOn
  994. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  995. CIA402: Setting control_word of 1 to: Cia402Controlword::kDisableOperation
  996. APPDRV: Writing controlword as 7
  997. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  998. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  999. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  1000. APPDRV: Writing controlword as 6
  1001. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  1002. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1003. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  1004. APPDRV: Writing controlword as 6
  1005. CIA402: Read statusword of joint 3 as Cia402State::kOperationEnabled
  1006. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1007. CIA402: Setting control_word of 3 to: Cia402Controlword::kQuickStop
  1008. APPDRV: Writing controlword as 2
  1009. SYNAPT: Joint 3
  1010. SYNAPT: inPositionControlMode 1
  1011. SYNAPT: inOperationEnabledState 1
  1012. JOINT: Setting target position of joint 3 to 500.
  1013. APPDRV: Writing target_position as 244
  1014. SYNAPT: Setting joint 3 target to 500.
  1015. SYNAPT: Confirm: target to 500.
  1016. CIA402: Read statusword of joint 0 as Cia402State::kSwitchedOn
  1017. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1018. CIA402: Setting control_word of 0 to: Cia402Controlword::kEnableOperation
  1019. APPDRV: Writing controlword as 15
  1020. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  1021. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  1022. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  1023. APPDRV: Writing controlword as 6
  1024. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  1025. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  1026. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  1027. APPDRV: Writing controlword as 6
  1028. CIA402: Read statusword of joint 1 as Cia402State::kSwitchedOn
  1029. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  1030. CIA402: Setting control_word of 1 to: Cia402Controlword::kEnableOperation
  1031. APPDRV: Writing controlword as 15
  1032. CIA402: Read statusword of joint 4 as Cia402State::kReadyToSwitchOn
  1033. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1034. CIA402: Setting control_word of 4 to: Cia402Controlword::kDisableOperation
  1035. APPDRV: Writing controlword as 7
  1036. CIA402: Read statusword of joint 0 as Cia402State::kOperationEnabled
  1037. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1038. CIA402: Setting control_word of 0 to: Cia402Controlword::kQuickStop
  1039. APPDRV: Writing controlword as 2
  1040. SYNAPT: Joint 0
  1041. SYNAPT: inPositionControlMode 1
  1042. SYNAPT: inOperationEnabledState 1
  1043. JOINT: Setting target position of joint 0 to 1727.
  1044. APPDRV: Writing target_position as 191
  1045. SYNAPT: Setting joint 0 target to 1727.
  1046. SYNAPT: Confirm: target to 1727.
  1047. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  1048. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1049. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  1050. APPDRV: Writing controlword as 6
  1051. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  1052. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1053. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  1054. APPDRV: Writing controlword as 6
  1055. CIA402: Read statusword of joint 1 as Cia402State::kOperationEnabled
  1056. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  1057. CIA402: Setting control_word of 1 to: Cia402Controlword::kQuickStop
  1058. APPDRV: Writing controlword as 2
  1059. SYNAPT: Joint 1
  1060. SYNAPT: inPositionControlMode 1
  1061. SYNAPT: inOperationEnabledState 1
  1062. JOINT: Setting target position of joint 1 to 2569.
  1063. APPDRV: Writing target_position as 9
  1064. SYNAPT: Setting joint 1 target to 2569.
  1065. SYNAPT: Confirm: target to 2569.
  1066. CIA402: Read statusword of joint 2 as Cia402State::kReadyToSwitchOn
  1067. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  1068. CIA402: Setting control_word of 2 to: Cia402Controlword::kDisableOperation
  1069. APPDRV: Writing controlword as 7
  1070. CIA402: Read statusword of joint 4 as Cia402State::kSwitchedOn
  1071. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1072. CIA402: Setting control_word of 4 to: Cia402Controlword::kEnableOperation
  1073. APPDRV: Writing controlword as 15
  1074. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  1075. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1076. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  1077. APPDRV: Writing controlword as 6
  1078. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  1079. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1080. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  1081. APPDRV: Writing controlword as 6
  1082. CIA402: Read statusword of joint 3 as Cia402State::kReadyToSwitchOn
  1083. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1084. CIA402: Setting control_word of 3 to: Cia402Controlword::kDisableOperation
  1085. APPDRV: Writing controlword as 7
  1086. CIA402: Read statusword of joint 2 as Cia402State::kSwitchedOn
  1087. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  1088. CIA402: Setting control_word of 2 to: Cia402Controlword::kEnableOperation
  1089. APPDRV: Writing controlword as 15
  1090. CIA402: Read statusword of joint 1 as Cia402State::kQuickStopActive
  1091. CIA402: Read statusword of joint 4 as Cia402State::kOperationEnabled
  1092. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1093. CIA402: Setting control_word of 4 to: Cia402Controlword::kQuickStop
  1094. APPDRV: Writing controlword as 2
  1095. SYNAPT: Joint 4
  1096. SYNAPT: inPositionControlMode 1
  1097. SYNAPT: inOperationEnabledState 1
  1098. JOINT: Setting target position of joint 4 to -5653.
  1099. APPDRV: Writing target_position as 235
  1100. SYNAPT: Setting joint 4 target to -5653.
  1101. SYNAPT: Confirm: target to -5653.
  1102. CIA402: Read statusword of joint 3 as Cia402State::kSwitchedOn
  1103. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1104. CIA402: Setting control_word of 3 to: Cia402Controlword::kEnableOperation
  1105. APPDRV: Writing controlword as 15
  1106. CIA402: Read statusword of joint 0 as Cia402State::kReadyToSwitchOn
  1107. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1108. CIA402: Setting control_word of 0 to: Cia402Controlword::kDisableOperation
  1109. APPDRV: Writing controlword as 7
  1110. CIA402: Read statusword of joint 2 as Cia402State::kOperationEnabled
  1111. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  1112. CIA402: Setting control_word of 2 to: Cia402Controlword::kQuickStop
  1113. APPDRV: Writing controlword as 2
  1114. SYNAPT: Joint 2
  1115. SYNAPT: inPositionControlMode 1
  1116. SYNAPT: inOperationEnabledState 1
  1117. JOINT: Setting target position of joint 2 to 6113.
  1118. APPDRV: Writing target_position as 225
  1119. SYNAPT: Setting joint 2 target to 6113.
  1120. SYNAPT: Confirm: target to 6113.
  1121. CIA402: Read statusword of joint 1 as Cia402State::kSwitchOnDisabled
  1122. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  1123. CIA402: Setting control_word of 1 to: Cia402Controlword::kShutdown
  1124. APPDRV: Writing controlword as 6
  1125. CIA402: Read statusword of joint 3 as Cia402State::kOperationEnabled
  1126. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1127. CIA402: Setting control_word of 3 to: Cia402Controlword::kQuickStop
  1128. APPDRV: Writing controlword as 2
  1129. SYNAPT: Joint 3
  1130. SYNAPT: inPositionControlMode 1
  1131. SYNAPT: inOperationEnabledState 1
  1132. JOINT: Setting target position of joint 3 to 501.
  1133. APPDRV: Writing target_position as 245
  1134. SYNAPT: Setting joint 3 target to 501.
  1135. SYNAPT: Confirm: target to 501.
  1136. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  1137. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1138. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  1139. APPDRV: Writing controlword as 6
  1140. CIA402: Read statusword of joint 0 as Cia402State::kSwitchedOn
  1141. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1142. CIA402: Setting control_word of 0 to: Cia402Controlword::kEnableOperation
  1143. APPDRV: Writing controlword as 15
  1144. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  1145. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  1146. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  1147. APPDRV: Writing controlword as 6
  1148. CIA402: Read statusword of joint 1 as Cia402State::kReadyToSwitchOn
  1149. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  1150. CIA402: Setting control_word of 1 to: Cia402Controlword::kDisableOperation
  1151. APPDRV: Writing controlword as 7
  1152. CIA402: Read statusword of joint 0 as Cia402State::kOperationEnabled
  1153. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1154. CIA402: Setting control_word of 0 to: Cia402Controlword::kQuickStop
  1155. APPDRV: Writing controlword as 2
  1156. SYNAPT: Joint 0
  1157. SYNAPT: inPositionControlMode 1
  1158. SYNAPT: inOperationEnabledState 1
  1159. JOINT: Setting target position of joint 0 to 1729.
  1160. APPDRV: Writing target_position as 193
  1161. SYNAPT: Setting joint 0 target to 1729.
  1162. SYNAPT: Confirm: target to 1729.
  1163. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  1164. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1165. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  1166. APPDRV: Writing controlword as 6
  1167. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  1168. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1169. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  1170. APPDRV: Writing controlword as 6
  1171. CIA402: Read statusword of joint 4 as Cia402State::kReadyToSwitchOn
  1172. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1173. CIA402: Setting control_word of 4 to: Cia402Controlword::kDisableOperation
  1174. APPDRV: Writing controlword as 7
  1175. CIA402: Read statusword of joint 1 as Cia402State::kSwitchedOn
  1176. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  1177. CIA402: Setting control_word of 1 to: Cia402Controlword::kEnableOperation
  1178. APPDRV: Writing controlword as 15
  1179. CIA402: Read statusword of joint 2 as Cia402State::kReadyToSwitchOn
  1180. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  1181. CIA402: Setting control_word of 2 to: Cia402Controlword::kDisableOperation
  1182. APPDRV: Writing controlword as 7
  1183. CIA402: Read statusword of joint 4 as Cia402State::kSwitchedOn
  1184. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1185. CIA402: Setting control_word of 4 to: Cia402Controlword::kEnableOperation
  1186. APPDRV: Writing controlword as 15
  1187. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  1188. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1189. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  1190. APPDRV: Writing controlword as 6
  1191. CIA402: Read statusword of joint 3 as Cia402State::kReadyToSwitchOn
  1192. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1193. CIA402: Setting control_word of 3 to: Cia402Controlword::kDisableOperation
  1194. APPDRV: Writing controlword as 7
  1195. CIA402: Read statusword of joint 1 as Cia402State::kOperationEnabled
  1196. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  1197. CIA402: Setting control_word of 1 to: Cia402Controlword::kQuickStop
  1198. APPDRV: Writing controlword as 2
  1199. SYNAPT: Joint 1
  1200. SYNAPT: inPositionControlMode 1
  1201. SYNAPT: inOperationEnabledState 1
  1202. JOINT: Setting target position of joint 1 to 2589.
  1203. APPDRV: Writing target_position as 29
  1204. SYNAPT: Setting joint 1 target to 2589.
  1205. SYNAPT: Confirm: target to 2589.
  1206. CIA402: Read statusword of joint 2 as Cia402State::kSwitchedOn
  1207. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  1208. CIA402: Setting control_word of 2 to: Cia402Controlword::kEnableOperation
  1209. APPDRV: Writing controlword as 15
  1210. CIA402: Read statusword of joint 4 as Cia402State::kOperationEnabled
  1211. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1212. CIA402: Setting control_word of 4 to: Cia402Controlword::kQuickStop
  1213. APPDRV: Writing controlword as 2
  1214. SYNAPT: Joint 4
  1215. SYNAPT: inPositionControlMode 1
  1216. SYNAPT: inOperationEnabledState 1
  1217. JOINT: Setting target position of joint 4 to -5650.
  1218. APPDRV: Writing target_position as 238
  1219. SYNAPT: Setting joint 4 target to -5650.
  1220. SYNAPT: Confirm: target to -5650.
  1221. CIA402: Read statusword of joint 3 as Cia402State::kSwitchedOn
  1222. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1223. CIA402: Setting control_word of 3 to: Cia402Controlword::kEnableOperation
  1224. APPDRV: Writing controlword as 15
  1225. CIA402: Read statusword of joint 0 as Cia402State::kReadyToSwitchOn
  1226. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1227. CIA402: Setting control_word of 0 to: Cia402Controlword::kDisableOperation
  1228. APPDRV: Writing controlword as 7
  1229. CIA402: Read statusword of joint 1 as Cia402State::kSwitchOnDisabled
  1230. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  1231. CIA402: Setting control_word of 1 to: Cia402Controlword::kShutdown
  1232. APPDRV: Writing controlword as 6
  1233. CIA402: Read statusword of joint 2 as Cia402State::kOperationEnabled
  1234. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  1235. CIA402: Setting control_word of 2 to: Cia402Controlword::kQuickStop
  1236. APPDRV: Writing controlword as 2
  1237. SYNAPT: Joint 2
  1238. SYNAPT: inPositionControlMode 1
  1239. SYNAPT: inOperationEnabledState 1
  1240. JOINT: Setting target position of joint 2 to 6115.
  1241. APPDRV: Writing target_position as 227
  1242. SYNAPT: Setting joint 2 target to 6115.
  1243. SYNAPT: Confirm: target to 6115.
  1244. CIA402: Read statusword of joint 3 as Cia402State::kOperationEnabled
  1245. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1246. CIA402: Setting control_word of 3 to: Cia402Controlword::kQuickStop
  1247. APPDRV: Writing controlword as 2
  1248. SYNAPT: Joint 3
  1249. SYNAPT: inPositionControlMode 1
  1250. SYNAPT: inOperationEnabledState 1
  1251. JOINT: Setting target position of joint 3 to 497.
  1252. APPDRV: Writing target_position as 241
  1253. SYNAPT: Setting joint 3 target to 497.
  1254. SYNAPT: Confirm: target to 497.
  1255. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  1256. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1257. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  1258. APPDRV: Writing controlword as 6
  1259. CIA402: Read statusword of joint 0 as Cia402State::kSwitchedOn
  1260. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1261. CIA402: Setting control_word of 0 to: Cia402Controlword::kEnableOperation
  1262. APPDRV: Writing controlword as 15
  1263. CIA402: Read statusword of joint 1 as Cia402State::kReadyToSwitchOn
  1264. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  1265. CIA402: Setting control_word of 1 to: Cia402Controlword::kDisableOperation
  1266. APPDRV: Writing controlword as 7
  1267. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  1268. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  1269. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  1270. APPDRV: Writing controlword as 6
  1271. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  1272. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1273. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  1274. APPDRV: Writing controlword as 6
  1275. CIA402: Read statusword of joint 4 as Cia402State::kReadyToSwitchOn
  1276. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1277. CIA402: Setting control_word of 4 to: Cia402Controlword::kDisableOperation
  1278. APPDRV: Writing controlword as 7
  1279. CIA402: Read statusword of joint 0 as Cia402State::kOperationEnabled
  1280. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1281. CIA402: Setting control_word of 0 to: Cia402Controlword::kQuickStop
  1282. APPDRV: Writing controlword as 2
  1283. SYNAPT: Joint 0
  1284. SYNAPT: inPositionControlMode 1
  1285. SYNAPT: inOperationEnabledState 1
  1286. JOINT: Setting target position of joint 0 to 1727.
  1287. APPDRV: Writing target_position as 191
  1288. SYNAPT: Setting joint 0 target to 1727.
  1289. SYNAPT: Confirm: target to 1727.
  1290. CIA402: Read statusword of joint 1 as Cia402State::kSwitchedOn
  1291. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  1292. CIA402: Setting control_word of 1 to: Cia402Controlword::kEnableOperation
  1293. APPDRV: Writing controlword as 15
  1294. CIA402: Read statusword of joint 4 as Cia402State::kSwitchedOn
  1295. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1296. CIA402: Setting control_word of 4 to: Cia402Controlword::kEnableOperation
  1297. APPDRV: Writing controlword as 15
  1298. CIA402: Read statusword of joint 2 as Cia402State::kReadyToSwitchOn
  1299. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  1300. CIA402: Setting control_word of 2 to: Cia402Controlword::kDisableOperation
  1301. APPDRV: Writing controlword as 7
  1302. CIA402: Read statusword of joint 3 as Cia402State::kReadyToSwitchOn
  1303. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1304. CIA402: Setting control_word of 3 to: Cia402Controlword::kDisableOperation
  1305. APPDRV: Writing controlword as 7
  1306. CIA402: Read statusword of joint 1 as Cia402State::kOperationEnabled
  1307. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  1308. CIA402: Setting control_word of 1 to: Cia402Controlword::kQuickStop
  1309. APPDRV: Writing controlword as 2
  1310. SYNAPT: Joint 1
  1311. SYNAPT: inPositionControlMode 1
  1312. SYNAPT: inOperationEnabledState 1
  1313. JOINT: Setting target position of joint 1 to 2577.
  1314. APPDRV: Writing target_position as 17
  1315. SYNAPT: Setting joint 1 target to 2577.
  1316. SYNAPT: Confirm: target to 2577.
  1317. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  1318. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1319. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  1320. APPDRV: Writing controlword as 6
  1321. CIA402: Read statusword of joint 4 as Cia402State::kOperationEnabled
  1322. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1323. CIA402: Setting control_word of 4 to: Cia402Controlword::kQuickStop
  1324. APPDRV: Writing controlword as 2
  1325. SYNAPT: Joint 4
  1326. SYNAPT: inPositionControlMode 1
  1327. SYNAPT: inOperationEnabledState 1
  1328. JOINT: Setting target position of joint 4 to -5650.
  1329. APPDRV: Writing target_position as 238
  1330. SYNAPT: Setting joint 4 target to -5650.
  1331. SYNAPT: Confirm: target to -5650.
  1332. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  1333. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1334. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  1335. APPDRV: Writing controlword as 6
  1336. CIA402: Read statusword of joint 2 as Cia402State::kSwitchedOn
  1337. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  1338. CIA402: Setting control_word of 2 to: Cia402Controlword::kEnableOperation
  1339. APPDRV: Writing controlword as 15
  1340. CIA402: Read statusword of joint 3 as Cia402State::kSwitchedOn
  1341. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1342. CIA402: Setting control_word of 3 to: Cia402Controlword::kEnableOperation
  1343. APPDRV: Writing controlword as 15
  1344. CIA402: Read statusword of joint 1 as Cia402State::kQuickStopActive
  1345. CIA402: Read statusword of joint 0 as Cia402State::kReadyToSwitchOn
  1346. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1347. CIA402: Setting control_word of 0 to: Cia402Controlword::kDisableOperation
  1348. APPDRV: Writing controlword as 7
  1349. CIA402: Read statusword of joint 2 as Cia402State::kOperationEnabled
  1350. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  1351. CIA402: Setting control_word of 2 to: Cia402Controlword::kQuickStop
  1352. APPDRV: Writing controlword as 2
  1353. SYNAPT: Joint 2
  1354. SYNAPT: inPositionControlMode 1
  1355. SYNAPT: inOperationEnabledState 1
  1356. JOINT: Setting target position of joint 2 to 6115.
  1357. APPDRV: Writing target_position as 227
  1358. SYNAPT: Setting joint 2 target to 6115.
  1359. SYNAPT: Confirm: target to 6115.
  1360. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  1361. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1362. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  1363. APPDRV: Writing controlword as 6
  1364. CIA402: Read statusword of joint 1 as Cia402State::kSwitchOnDisabled
  1365. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  1366. CIA402: Setting control_word of 1 to: Cia402Controlword::kShutdown
  1367. APPDRV: Writing controlword as 6
  1368. CIA402: Read statusword of joint 3 as Cia402State::kOperationEnabled
  1369. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1370. CIA402: Setting control_word of 3 to: Cia402Controlword::kQuickStop
  1371. APPDRV: Writing controlword as 2
  1372. SYNAPT: Joint 3
  1373. SYNAPT: inPositionControlMode 1
  1374. SYNAPT: inOperationEnabledState 1
  1375. JOINT: Setting target position of joint 3 to 498.
  1376. APPDRV: Writing target_position as 242
  1377. SYNAPT: Setting joint 3 target to 498.
  1378. SYNAPT: Confirm: target to 498.
  1379. CIA402: Read statusword of joint 0 as Cia402State::kSwitchedOn
  1380. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1381. CIA402: Setting control_word of 0 to: Cia402Controlword::kEnableOperation
  1382. APPDRV: Writing controlword as 15
  1383. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  1384. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  1385. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  1386. APPDRV: Writing controlword as 6
  1387. CIA402: Read statusword of joint 4 as Cia402State::kReadyToSwitchOn
  1388. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1389. CIA402: Setting control_word of 4 to: Cia402Controlword::kDisableOperation
  1390. APPDRV: Writing controlword as 7
  1391. CIA402: Read statusword of joint 1 as Cia402State::kReadyToSwitchOn
  1392. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  1393. CIA402: Setting control_word of 1 to: Cia402Controlword::kDisableOperation
  1394. APPDRV: Writing controlword as 7
  1395. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  1396. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1397. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  1398. APPDRV: Writing controlword as 6
  1399. CIA402: Read statusword of joint 0 as Cia402State::kOperationEnabled
  1400. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1401. CIA402: Setting control_word of 0 to: Cia402Controlword::kQuickStop
  1402. APPDRV: Writing controlword as 2
  1403. SYNAPT: Joint 0
  1404. SYNAPT: inPositionControlMode 1
  1405. SYNAPT: inOperationEnabledState 1
  1406. JOINT: Setting target position of joint 0 to 1726.
  1407. APPDRV: Writing target_position as 190
  1408. SYNAPT: Setting joint 0 target to 1726.
  1409. SYNAPT: Confirm: target to 1726.
  1410. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  1411. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1412. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  1413. APPDRV: Writing controlword as 6
  1414. CIA402: Read statusword of joint 4 as Cia402State::kSwitchedOn
  1415. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1416. CIA402: Setting control_word of 4 to: Cia402Controlword::kEnableOperation
  1417. APPDRV: Writing controlword as 15
  1418. CIA402: Read statusword of joint 1 as Cia402State::kSwitchedOn
  1419. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  1420. CIA402: Setting control_word of 1 to: Cia402Controlword::kEnableOperation
  1421. APPDRV: Writing controlword as 15
  1422. CIA402: Read statusword of joint 2 as Cia402State::kReadyToSwitchOn
  1423. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  1424. CIA402: Setting control_word of 2 to: Cia402Controlword::kDisableOperation
  1425. APPDRV: Writing controlword as 7
  1426. CIA402: Read statusword of joint 3 as Cia402State::kReadyToSwitchOn
  1427. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1428. CIA402: Setting control_word of 3 to: Cia402Controlword::kDisableOperation
  1429. APPDRV: Writing controlword as 7
  1430. CIA402: Read statusword of joint 4 as Cia402State::kOperationEnabled
  1431. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1432. CIA402: Setting control_word of 4 to: Cia402Controlword::kQuickStop
  1433. APPDRV: Writing controlword as 2
  1434. SYNAPT: Joint 4
  1435. SYNAPT: inPositionControlMode 1
  1436. SYNAPT: inOperationEnabledState 1
  1437. JOINT: Setting target position of joint 4 to -5652.
  1438. APPDRV: Writing target_position as 236
  1439. SYNAPT: Setting joint 4 target to -5652.
  1440. SYNAPT: Confirm: target to -5652.
  1441. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  1442. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1443. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  1444. APPDRV: Writing controlword as 6
  1445. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  1446. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1447. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  1448. APPDRV: Writing controlword as 6
  1449. CIA402: Read statusword of joint 1 as Cia402State::kOperationEnabled
  1450. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  1451. CIA402: Setting control_word of 1 to: Cia402Controlword::kQuickStop
  1452. APPDRV: Writing controlword as 2
  1453. SYNAPT: Joint 1
  1454. SYNAPT: inPositionControlMode 1
  1455. SYNAPT: inOperationEnabledState 1
  1456. JOINT: Setting target position of joint 1 to 2565.
  1457. APPDRV: Writing target_position as 5
  1458. SYNAPT: Setting joint 1 target to 2565.
  1459. SYNAPT: Confirm: target to 2565.
  1460. CIA402: Read statusword of joint 2 as Cia402State::kSwitchedOn
  1461. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  1462. CIA402: Setting control_word of 2 to: Cia402Controlword::kEnableOperation
  1463. APPDRV: Writing controlword as 15
  1464. CIA402: Read statusword of joint 3 as Cia402State::kSwitchedOn
  1465. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1466. CIA402: Setting control_word of 3 to: Cia402Controlword::kEnableOperation
  1467. APPDRV: Writing controlword as 15
  1468. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  1469. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1470. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  1471. APPDRV: Writing controlword as 6
  1472. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  1473. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1474. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  1475. APPDRV: Writing controlword as 6
  1476. CIA402: Read statusword of joint 0 as Cia402State::kReadyToSwitchOn
  1477. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1478. CIA402: Setting control_word of 0 to: Cia402Controlword::kDisableOperation
  1479. APPDRV: Writing controlword as 7
  1480. CIA402: Read statusword of joint 1 as Cia402State::kQuickStopActive
  1481. CIA402: Read statusword of joint 2 as Cia402State::kOperationEnabled
  1482. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  1483. CIA402: Setting control_word of 2 to: Cia402Controlword::kQuickStop
  1484. APPDRV: Writing controlword as 2
  1485. SYNAPT: Joint 2
  1486. SYNAPT: inPositionControlMode 1
  1487. SYNAPT: inOperationEnabledState 1
  1488. JOINT: Setting target position of joint 2 to 6115.
  1489. APPDRV: Writing target_position as 227
  1490. SYNAPT: Setting joint 2 target to 6115.
  1491. SYNAPT: Confirm: target to 6115.
  1492. CIA402: Read statusword of joint 3 as Cia402State::kOperationEnabled
  1493. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1494. CIA402: Setting control_word of 3 to: Cia402Controlword::kQuickStop
  1495. APPDRV: Writing controlword as 2
  1496. SYNAPT: Joint 3
  1497. SYNAPT: inPositionControlMode 1
  1498. SYNAPT: inOperationEnabledState 1
  1499. JOINT: Setting target position of joint 3 to 502.
  1500. APPDRV: Writing target_position as 246
  1501. SYNAPT: Setting joint 3 target to 502.
  1502. SYNAPT: Confirm: target to 502.
  1503. CIA402: Read statusword of joint 0 as Cia402State::kSwitchedOn
  1504. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1505. CIA402: Setting control_word of 0 to: Cia402Controlword::kEnableOperation
  1506. APPDRV: Writing controlword as 15
  1507. CIA402: Read statusword of joint 4 as Cia402State::kReadyToSwitchOn
  1508. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1509. CIA402: Setting control_word of 4 to: Cia402Controlword::kDisableOperation
  1510. APPDRV: Writing controlword as 7
  1511. CIA402: Read statusword of joint 1 as Cia402State::kSwitchOnDisabled
  1512. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  1513. CIA402: Setting control_word of 1 to: Cia402Controlword::kShutdown
  1514. APPDRV: Writing controlword as 6
  1515. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  1516. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  1517. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  1518. APPDRV: Writing controlword as 6
  1519. CIA402: Read statusword of joint 0 as Cia402State::kOperationEnabled
  1520. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1521. CIA402: Setting control_word of 0 to: Cia402Controlword::kQuickStop
  1522. APPDRV: Writing controlword as 2
  1523. SYNAPT: Joint 0
  1524. SYNAPT: inPositionControlMode 1
  1525. SYNAPT: inOperationEnabledState 1
  1526. JOINT: Setting target position of joint 0 to 1722.
  1527. APPDRV: Writing target_position as 186
  1528. SYNAPT: Setting joint 0 target to 1722.
  1529. SYNAPT: Confirm: target to 1722.
  1530. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  1531. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1532. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  1533. APPDRV: Writing controlword as 6
  1534. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  1535. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1536. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  1537. APPDRV: Writing controlword as 6
  1538. CIA402: Read statusword of joint 4 as Cia402State::kSwitchedOn
  1539. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1540. CIA402: Setting control_word of 4 to: Cia402Controlword::kEnableOperation
  1541. APPDRV: Writing controlword as 15
  1542. CIA402: Read statusword of joint 1 as Cia402State::kReadyToSwitchOn
  1543. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  1544. CIA402: Setting control_word of 1 to: Cia402Controlword::kDisableOperation
  1545. APPDRV: Writing controlword as 7
  1546. CIA402: Read statusword of joint 2 as Cia402State::kReadyToSwitchOn
  1547. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  1548. CIA402: Setting control_word of 2 to: Cia402Controlword::kDisableOperation
  1549. APPDRV: Writing controlword as 7
  1550. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  1551. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1552. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  1553. APPDRV: Writing controlword as 6
  1554. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  1555. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1556. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  1557. APPDRV: Writing controlword as 6
  1558. CIA402: Read statusword of joint 3 as Cia402State::kReadyToSwitchOn
  1559. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1560. CIA402: Setting control_word of 3 to: Cia402Controlword::kDisableOperation
  1561. APPDRV: Writing controlword as 7
  1562. CIA402: Read statusword of joint 4 as Cia402State::kOperationEnabled
  1563. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1564. CIA402: Setting control_word of 4 to: Cia402Controlword::kQuickStop
  1565. APPDRV: Writing controlword as 2
  1566. SYNAPT: Joint 4
  1567. SYNAPT: inPositionControlMode 1
  1568. SYNAPT: inOperationEnabledState 1
  1569. JOINT: Setting target position of joint 4 to -5651.
  1570. APPDRV: Writing target_position as 237
  1571. SYNAPT: Setting joint 4 target to -5651.
  1572. SYNAPT: Confirm: target to -5651.
  1573. CIA402: Read statusword of joint 1 as Cia402State::kSwitchedOn
  1574. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  1575. CIA402: Setting control_word of 1 to: Cia402Controlword::kEnableOperation
  1576. APPDRV: Writing controlword as 15
  1577. CIA402: Read statusword of joint 2 as Cia402State::kSwitchedOn
  1578. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  1579. CIA402: Setting control_word of 2 to: Cia402Controlword::kEnableOperation
  1580. APPDRV: Writing controlword as 15
  1581. CIA402: Read statusword of joint 3 as Cia402State::kSwitchedOn
  1582. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1583. CIA402: Setting control_word of 3 to: Cia402Controlword::kEnableOperation
  1584. APPDRV: Writing controlword as 15
  1585. CIA402: Read statusword of joint 0 as Cia402State::kReadyToSwitchOn
  1586. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1587. CIA402: Setting control_word of 0 to: Cia402Controlword::kDisableOperation
  1588. APPDRV: Writing controlword as 7
  1589. CIA402: Read statusword of joint 1 as Cia402State::kOperationEnabled
  1590. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  1591. CIA402: Setting control_word of 1 to: Cia402Controlword::kQuickStop
  1592. APPDRV: Writing controlword as 2
  1593. SYNAPT: Joint 1
  1594. SYNAPT: inPositionControlMode 1
  1595. SYNAPT: inOperationEnabledState 1
  1596. JOINT: Setting target position of joint 1 to 2583.
  1597. APPDRV: Writing target_position as 23
  1598. SYNAPT: Setting joint 1 target to 2583.
  1599. SYNAPT: Confirm: target to 2583.
  1600. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  1601. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1602. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  1603. APPDRV: Writing controlword as 6
  1604. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  1605. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1606. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  1607. APPDRV: Writing controlword as 6
  1608. CIA402: Read statusword of joint 2 as Cia402State::kOperationEnabled
  1609. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  1610. CIA402: Setting control_word of 2 to: Cia402Controlword::kQuickStop
  1611. APPDRV: Writing controlword as 2
  1612. SYNAPT: Joint 2
  1613. SYNAPT: inPositionControlMode 1
  1614. SYNAPT: inOperationEnabledState 1
  1615. JOINT: Setting target position of joint 2 to 6114.
  1616. APPDRV: Writing target_position as 226
  1617. SYNAPT: Setting joint 2 target to 6114.
  1618. SYNAPT: Confirm: target to 6114.
  1619. CIA402: Read statusword of joint 3 as Cia402State::kOperationEnabled
  1620. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1621. CIA402: Setting control_word of 3 to: Cia402Controlword::kQuickStop
  1622. APPDRV: Writing controlword as 2
  1623. SYNAPT: Joint 3
  1624. SYNAPT: inPositionControlMode 1
  1625. SYNAPT: inOperationEnabledState 1
  1626. JOINT: Setting target position of joint 3 to 501.
  1627. APPDRV: Writing target_position as 245
  1628. SYNAPT: Setting joint 3 target to 501.
  1629. SYNAPT: Confirm: target to 501.
  1630. CIA402: Read statusword of joint 0 as Cia402State::kSwitchedOn
  1631. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1632. CIA402: Setting control_word of 0 to: Cia402Controlword::kEnableOperation
  1633. APPDRV: Writing controlword as 15
  1634. CIA402: Read statusword of joint 1 as Cia402State::kSwitchOnDisabled
  1635. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  1636. CIA402: Setting control_word of 1 to: Cia402Controlword::kShutdown
  1637. APPDRV: Writing controlword as 6
  1638. CIA402: Read statusword of joint 1 as Cia402State::kSwitchOnDisabled
  1639. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  1640. CIA402: Setting control_word of 1 to: Cia402Controlword::kShutdown
  1641. APPDRV: Writing controlword as 6
  1642. CIA402: Read statusword of joint 4 as Cia402State::kReadyToSwitchOn
  1643. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1644. CIA402: Setting control_word of 4 to: Cia402Controlword::kDisableOperation
  1645. APPDRV: Writing controlword as 7
  1646. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  1647. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  1648. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  1649. APPDRV: Writing controlword as 6
  1650. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  1651. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  1652. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  1653. APPDRV: Writing controlword as 6
  1654. CIA402: Read statusword of joint 0 as Cia402State::kOperationEnabled
  1655. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1656. CIA402: Setting control_word of 0 to: Cia402Controlword::kQuickStop
  1657. APPDRV: Writing controlword as 2
  1658. SYNAPT: Joint 0
  1659. SYNAPT: inPositionControlMode 1
  1660. SYNAPT: inOperationEnabledState 1
  1661. JOINT: Setting target position of joint 0 to 1726.
  1662. APPDRV: Writing target_position as 190
  1663. SYNAPT: Setting joint 0 target to 1726.
  1664. SYNAPT: Confirm: target to 1726.
  1665. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  1666. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1667. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  1668. APPDRV: Writing controlword as 6
  1669. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  1670. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1671. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  1672. APPDRV: Writing controlword as 6
  1673. CIA402: Read statusword of joint 4 as Cia402State::kSwitchedOn
  1674. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1675. CIA402: Setting control_word of 4 to: Cia402Controlword::kEnableOperation
  1676. APPDRV: Writing controlword as 15
  1677. CIA402: Read statusword of joint 1 as Cia402State::kReadyToSwitchOn
  1678. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  1679. CIA402: Setting control_word of 1 to: Cia402Controlword::kDisableOperation
  1680. APPDRV: Writing controlword as 7
  1681. CIA402: Read statusword of joint 2 as Cia402State::kReadyToSwitchOn
  1682. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  1683. CIA402: Setting control_word of 2 to: Cia402Controlword::kDisableOperation
  1684. APPDRV: Writing controlword as 7
  1685. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  1686. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1687. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  1688. APPDRV: Writing controlword as 6
  1689. CIA402: Read statusword of joint 3 as Cia402State::kReadyToSwitchOn
  1690. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1691. CIA402: Setting control_word of 3 to: Cia402Controlword::kDisableOperation
  1692. APPDRV: Writing controlword as 7
  1693. CIA402: Read statusword of joint 4 as Cia402State::kOperationEnabled
  1694. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1695. CIA402: Setting control_word of 4 to: Cia402Controlword::kQuickStop
  1696. APPDRV: Writing controlword as 2
  1697. SYNAPT: Joint 4
  1698. SYNAPT: inPositionControlMode 1
  1699. SYNAPT: inOperationEnabledState 1
  1700. JOINT: Setting target position of joint 4 to -5651.
  1701. APPDRV: Writing target_position as 237
  1702. SYNAPT: Setting joint 4 target to -5651.
  1703. SYNAPT: Confirm: target to -5651.
  1704. CIA402: Read statusword of joint 1 as Cia402State::kSwitchedOn
  1705. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  1706. CIA402: Setting control_word of 1 to: Cia402Controlword::kEnableOperation
  1707. APPDRV: Writing controlword as 15
  1708. CIA402: Read statusword of joint 2 as Cia402State::kSwitchedOn
  1709. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  1710. CIA402: Setting control_word of 2 to: Cia402Controlword::kEnableOperation
  1711. APPDRV: Writing controlword as 15
  1712. CIA402: Read statusword of joint 3 as Cia402State::kSwitchedOn
  1713. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1714. CIA402: Setting control_word of 3 to: Cia402Controlword::kEnableOperation
  1715. APPDRV: Writing controlword as 15
  1716. CIA402: Read statusword of joint 0 as Cia402State::kReadyToSwitchOn
  1717. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1718. CIA402: Setting control_word of 0 to: Cia402Controlword::kDisableOperation
  1719. APPDRV: Writing controlword as 7
  1720. CIA402: Read statusword of joint 1 as Cia402State::kOperationEnabled
  1721. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  1722. CIA402: Setting control_word of 1 to: Cia402Controlword::kQuickStop
  1723. APPDRV: Writing controlword as 2
  1724. SYNAPT: Joint 1
  1725. SYNAPT: inPositionControlMode 1
  1726. SYNAPT: inOperationEnabledState 1
  1727. JOINT: Setting target position of joint 1 to 2594.
  1728. APPDRV: Writing target_position as 34
  1729. SYNAPT: Setting joint 1 target to 2594.
  1730. SYNAPT: Confirm: target to 2594.
  1731. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  1732. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1733. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  1734. APPDRV: Writing controlword as 6
  1735. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  1736. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1737. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  1738. APPDRV: Writing controlword as 6
  1739. CIA402: Read statusword of joint 2 as Cia402State::kOperationEnabled
  1740. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  1741. CIA402: Setting control_word of 2 to: Cia402Controlword::kQuickStop
  1742. APPDRV: Writing controlword as 2
  1743. SYNAPT: Joint 2
  1744. SYNAPT: inPositionControlMode 1
  1745. SYNAPT: inOperationEnabledState 1
  1746. JOINT: Setting target position of joint 2 to 6117.
  1747. APPDRV: Writing target_position as 229
  1748. SYNAPT: Setting joint 2 target to 6117.
  1749. SYNAPT: Confirm: target to 6117.
  1750. CIA402: Read statusword of joint 3 as Cia402State::kOperationEnabled
  1751. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1752. CIA402: Setting control_word of 3 to: Cia402Controlword::kQuickStop
  1753. APPDRV: Writing controlword as 2
  1754. SYNAPT: Joint 3
  1755. SYNAPT: inPositionControlMode 1
  1756. SYNAPT: inOperationEnabledState 1
  1757. JOINT: Setting target position of joint 3 to 498.
  1758. APPDRV: Writing target_position as 242
  1759. SYNAPT: Setting joint 3 target to 498.
  1760. SYNAPT: Confirm: target to 498.
  1761. CIA402: Read statusword of joint 0 as Cia402State::kSwitchedOn
  1762. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1763. CIA402: Setting control_word of 0 to: Cia402Controlword::kEnableOperation
  1764. APPDRV: Writing controlword as 15
  1765. CIA402: Read statusword of joint 1 as Cia402State::kQuickStopActive
  1766. CIA402: Read statusword of joint 4 as Cia402State::kReadyToSwitchOn
  1767. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1768. CIA402: Setting control_word of 4 to: Cia402Controlword::kDisableOperation
  1769. APPDRV: Writing controlword as 7
  1770. CIA402: Read statusword of joint 1 as Cia402State::kSwitchOnDisabled
  1771. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  1772. CIA402: Setting control_word of 1 to: Cia402Controlword::kShutdown
  1773. APPDRV: Writing controlword as 6
  1774. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  1775. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  1776. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  1777. APPDRV: Writing controlword as 6
  1778. CIA402: Read statusword of joint 0 as Cia402State::kOperationEnabled
  1779. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1780. CIA402: Setting control_word of 0 to: Cia402Controlword::kQuickStop
  1781. APPDRV: Writing controlword as 2
  1782. SYNAPT: Joint 0
  1783. SYNAPT: inPositionControlMode 1
  1784. SYNAPT: inOperationEnabledState 1
  1785. JOINT: Setting target position of joint 0 to 1726.
  1786. APPDRV: Writing target_position as 190
  1787. SYNAPT: Setting joint 0 target to 1726.
  1788. SYNAPT: Confirm: target to 1726.
  1789. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  1790. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1791. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  1792. APPDRV: Writing controlword as 6
  1793. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  1794. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1795. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  1796. APPDRV: Writing controlword as 6
  1797. CIA402: Read statusword of joint 4 as Cia402State::kSwitchedOn
  1798. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1799. CIA402: Setting control_word of 4 to: Cia402Controlword::kEnableOperation
  1800. APPDRV: Writing controlword as 15
  1801. CIA402: Read statusword of joint 1 as Cia402State::kReadyToSwitchOn
  1802. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  1803. CIA402: Setting control_word of 1 to: Cia402Controlword::kDisableOperation
  1804. APPDRV: Writing controlword as 7
  1805. CIA402: Read statusword of joint 2 as Cia402State::kReadyToSwitchOn
  1806. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  1807. CIA402: Setting control_word of 2 to: Cia402Controlword::kDisableOperation
  1808. APPDRV: Writing controlword as 7
  1809. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  1810. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1811. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  1812. APPDRV: Writing controlword as 6
  1813. CIA402: Read statusword of joint 4 as Cia402State::kOperationEnabled
  1814. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1815. CIA402: Setting control_word of 4 to: Cia402Controlword::kQuickStop
  1816. APPDRV: Writing controlword as 2
  1817. SYNAPT: Joint 4
  1818. SYNAPT: inPositionControlMode 1
  1819. SYNAPT: inOperationEnabledState 1
  1820. JOINT: Setting target position of joint 4 to -5650.
  1821. APPDRV: Writing target_position as 238
  1822. SYNAPT: Setting joint 4 target to -5650.
  1823. SYNAPT: Confirm: target to -5650.
  1824. CIA402: Read statusword of joint 3 as Cia402State::kReadyToSwitchOn
  1825. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1826. CIA402: Setting control_word of 3 to: Cia402Controlword::kDisableOperation
  1827. APPDRV: Writing controlword as 7
  1828. CIA402: Read statusword of joint 1 as Cia402State::kSwitchedOn
  1829. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  1830. CIA402: Setting control_word of 1 to: Cia402Controlword::kEnableOperation
  1831. APPDRV: Writing controlword as 15
  1832. CIA402: Read statusword of joint 2 as Cia402State::kSwitchedOn
  1833. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  1834. CIA402: Setting control_word of 2 to: Cia402Controlword::kEnableOperation
  1835. APPDRV: Writing controlword as 15
  1836. CIA402: Read statusword of joint 0 as Cia402State::kReadyToSwitchOn
  1837. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1838. CIA402: Setting control_word of 0 to: Cia402Controlword::kDisableOperation
  1839. APPDRV: Writing controlword as 7
  1840. CIA402: Read statusword of joint 3 as Cia402State::kSwitchedOn
  1841. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1842. CIA402: Setting control_word of 3 to: Cia402Controlword::kEnableOperation
  1843. APPDRV: Writing controlword as 15
  1844. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  1845. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1846. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  1847. APPDRV: Writing controlword as 6
  1848. CIA402: Read statusword of joint 1 as Cia402State::kOperationEnabled
  1849. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  1850. CIA402: Setting control_word of 1 to: Cia402Controlword::kQuickStop
  1851. APPDRV: Writing controlword as 2
  1852. SYNAPT: Joint 1
  1853. SYNAPT: inPositionControlMode 1
  1854. SYNAPT: inOperationEnabledState 1
  1855. JOINT: Setting target position of joint 1 to 2577.
  1856. APPDRV: Writing target_position as 17
  1857. SYNAPT: Setting joint 1 target to 2577.
  1858. SYNAPT: Confirm: target to 2577.
  1859. CIA402: Read statusword of joint 2 as Cia402State::kOperationEnabled
  1860. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  1861. CIA402: Setting control_word of 2 to: Cia402Controlword::kQuickStop
  1862. APPDRV: Writing controlword as 2
  1863. SYNAPT: Joint 2
  1864. SYNAPT: inPositionControlMode 1
  1865. SYNAPT: inOperationEnabledState 1
  1866. JOINT: Setting target position of joint 2 to 6116.
  1867. APPDRV: Writing target_position as 228
  1868. SYNAPT: Setting joint 2 target to 6116.
  1869. SYNAPT: Confirm: target to 6116.
  1870. CIA402: Read statusword of joint 0 as Cia402State::kSwitchedOn
  1871. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1872. CIA402: Setting control_word of 0 to: Cia402Controlword::kEnableOperation
  1873. APPDRV: Writing controlword as 15
  1874. CIA402: Read statusword of joint 3 as Cia402State::kOperationEnabled
  1875. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1876. CIA402: Setting control_word of 3 to: Cia402Controlword::kQuickStop
  1877. APPDRV: Writing controlword as 2
  1878. SYNAPT: Joint 3
  1879. SYNAPT: inPositionControlMode 1
  1880. SYNAPT: inOperationEnabledState 1
  1881. JOINT: Setting target position of joint 3 to 500.
  1882. APPDRV: Writing target_position as 244
  1883. SYNAPT: Setting joint 3 target to 500.
  1884. SYNAPT: Confirm: target to 500.
  1885. CIA402: Read statusword of joint 4 as Cia402State::kReadyToSwitchOn
  1886. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1887. CIA402: Setting control_word of 4 to: Cia402Controlword::kDisableOperation
  1888. APPDRV: Writing controlword as 7
  1889. CIA402: Read statusword of joint 1 as Cia402State::kQuickStopActive
  1890. CIA402: Read statusword of joint 0 as Cia402State::kOperationEnabled
  1891. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1892. CIA402: Setting control_word of 0 to: Cia402Controlword::kQuickStop
  1893. APPDRV: Writing controlword as 2
  1894. SYNAPT: Joint 0
  1895. SYNAPT: inPositionControlMode 1
  1896. SYNAPT: inOperationEnabledState 1
  1897. JOINT: Setting target position of joint 0 to 1726.
  1898. APPDRV: Writing target_position as 190
  1899. SYNAPT: Setting joint 0 target to 1726.
  1900. SYNAPT: Confirm: target to 1726.
  1901. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  1902. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  1903. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  1904. APPDRV: Writing controlword as 6
  1905. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  1906. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  1907. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  1908. APPDRV: Writing controlword as 6
  1909. CIA402: Read statusword of joint 1 as Cia402State::kSwitchOnDisabled
  1910. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  1911. CIA402: Setting control_word of 1 to: Cia402Controlword::kShutdown
  1912. APPDRV: Writing controlword as 6
  1913. CIA402: Read statusword of joint 4 as Cia402State::kSwitchedOn
  1914. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1915. CIA402: Setting control_word of 4 to: Cia402Controlword::kEnableOperation
  1916. APPDRV: Writing controlword as 15
  1917. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  1918. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1919. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  1920. APPDRV: Writing controlword as 6
  1921. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  1922. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1923. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  1924. APPDRV: Writing controlword as 6
  1925. CIA402: Read statusword of joint 2 as Cia402State::kReadyToSwitchOn
  1926. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  1927. CIA402: Setting control_word of 2 to: Cia402Controlword::kDisableOperation
  1928. APPDRV: Writing controlword as 7
  1929. CIA402: Read statusword of joint 4 as Cia402State::kOperationEnabled
  1930. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1931. CIA402: Setting control_word of 4 to: Cia402Controlword::kQuickStop
  1932. APPDRV: Writing controlword as 2
  1933. SYNAPT: Joint 4
  1934. SYNAPT: inPositionControlMode 1
  1935. SYNAPT: inOperationEnabledState 1
  1936. JOINT: Setting target position of joint 4 to -5648.
  1937. APPDRV: Writing target_position as 240
  1938. SYNAPT: Setting joint 4 target to -5648.
  1939. SYNAPT: Confirm: target to -5648.
  1940. CIA402: Read statusword of joint 1 as Cia402State::kReadyToSwitchOn
  1941. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  1942. CIA402: Setting control_word of 1 to: Cia402Controlword::kDisableOperation
  1943. APPDRV: Writing controlword as 7
  1944. CIA402: Read statusword of joint 2 as Cia402State::kSwitchedOn
  1945. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  1946. CIA402: Setting control_word of 2 to: Cia402Controlword::kEnableOperation
  1947. APPDRV: Writing controlword as 15
  1948. CIA402: Read statusword of joint 3 as Cia402State::kReadyToSwitchOn
  1949. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1950. CIA402: Setting control_word of 3 to: Cia402Controlword::kDisableOperation
  1951. APPDRV: Writing controlword as 7
  1952. CIA402: Read statusword of joint 0 as Cia402State::kReadyToSwitchOn
  1953. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1954. CIA402: Setting control_word of 0 to: Cia402Controlword::kDisableOperation
  1955. APPDRV: Writing controlword as 7
  1956. CIA402: Read statusword of joint 1 as Cia402State::kSwitchedOn
  1957. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  1958. CIA402: Setting control_word of 1 to: Cia402Controlword::kEnableOperation
  1959. APPDRV: Writing controlword as 15
  1960. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  1961. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1962. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  1963. APPDRV: Writing controlword as 6
  1964. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  1965. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  1966. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  1967. APPDRV: Writing controlword as 6
  1968. CIA402: Read statusword of joint 2 as Cia402State::kOperationEnabled
  1969. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  1970. CIA402: Setting control_word of 2 to: Cia402Controlword::kQuickStop
  1971. APPDRV: Writing controlword as 2
  1972. SYNAPT: Joint 2
  1973. SYNAPT: inPositionControlMode 1
  1974. SYNAPT: inOperationEnabledState 1
  1975. JOINT: Setting target position of joint 2 to 6113.
  1976. APPDRV: Writing target_position as 225
  1977. SYNAPT: Setting joint 2 target to 6113.
  1978. SYNAPT: Confirm: target to 6113.
  1979. CIA402: Read statusword of joint 3 as Cia402State::kSwitchedOn
  1980. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  1981. CIA402: Setting control_word of 3 to: Cia402Controlword::kEnableOperation
  1982. APPDRV: Writing controlword as 15
  1983. CIA402: Read statusword of joint 0 as Cia402State::kSwitchedOn
  1984. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  1985. CIA402: Setting control_word of 0 to: Cia402Controlword::kEnableOperation
  1986. APPDRV: Writing controlword as 15
  1987. CIA402: Read statusword of joint 1 as Cia402State::kOperationEnabled
  1988. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  1989. CIA402: Setting control_word of 1 to: Cia402Controlword::kQuickStop
  1990. APPDRV: Writing controlword as 2
  1991. SYNAPT: Joint 1
  1992. SYNAPT: inPositionControlMode 1
  1993. SYNAPT: inOperationEnabledState 1
  1994. JOINT: Setting target position of joint 1 to 2560.
  1995. APPDRV: Writing target_position as 0
  1996. SYNAPT: Setting joint 1 target to 2560.
  1997. SYNAPT: Confirm: target to 2560.
  1998. CIA402: Read statusword of joint 4 as Cia402State::kReadyToSwitchOn
  1999. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  2000. CIA402: Setting control_word of 4 to: Cia402Controlword::kDisableOperation
  2001. APPDRV: Writing controlword as 7
  2002. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  2003. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2004. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  2005. APPDRV: Writing controlword as 6
  2006. CIA402: Read statusword of joint 3 as Cia402State::kOperationEnabled
  2007. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2008. CIA402: Setting control_word of 3 to: Cia402Controlword::kQuickStop
  2009. APPDRV: Writing controlword as 2
  2010. SYNAPT: Joint 3
  2011. SYNAPT: inPositionControlMode 1
  2012. SYNAPT: inOperationEnabledState 1
  2013. JOINT: Setting target position of joint 3 to 499.
  2014. APPDRV: Writing target_position as 243
  2015. SYNAPT: Setting joint 3 target to 499.
  2016. SYNAPT: Confirm: target to 499.
  2017. CIA402: Read statusword of joint 0 as Cia402State::kOperationEnabled
  2018. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2019. CIA402: Setting control_word of 0 to: Cia402Controlword::kQuickStop
  2020. APPDRV: Writing controlword as 2
  2021. SYNAPT: Joint 0
  2022. SYNAPT: inPositionControlMode 1
  2023. SYNAPT: inOperationEnabledState 1
  2024. JOINT: Setting target position of joint 0 to 1725.
  2025. APPDRV: Writing target_position as 189
  2026. SYNAPT: Setting joint 0 target to 1725.
  2027. SYNAPT: Confirm: target to 1725.
  2028. CIA402: Read statusword of joint 4 as Cia402State::kSwitchedOn
  2029. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  2030. CIA402: Setting control_word of 4 to: Cia402Controlword::kEnableOperation
  2031. APPDRV: Writing controlword as 15
  2032. CIA402: Read statusword of joint 1 as Cia402State::kQuickStopActive
  2033. CIA402: Read statusword of joint 2 as Cia402State::kReadyToSwitchOn
  2034. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2035. CIA402: Setting control_word of 2 to: Cia402Controlword::kDisableOperation
  2036. APPDRV: Writing controlword as 7
  2037. CIA402: Read statusword of joint 3 as Cia402State::kQuickStopActive
  2038. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  2039. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2040. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  2041. APPDRV: Writing controlword as 6
  2042. CIA402: Read statusword of joint 4 as Cia402State::kOperationEnabled
  2043. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  2044. CIA402: Setting control_word of 4 to: Cia402Controlword::kQuickStop
  2045. APPDRV: Writing controlword as 2
  2046. SYNAPT: Joint 4
  2047. SYNAPT: inPositionControlMode 1
  2048. SYNAPT: inOperationEnabledState 1
  2049. JOINT: Setting target position of joint 4 to -5650.
  2050. APPDRV: Writing target_position as 238
  2051. SYNAPT: Setting joint 4 target to -5650.
  2052. SYNAPT: Confirm: target to -5650.
  2053. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  2054. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2055. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  2056. APPDRV: Writing controlword as 6
  2057. CIA402: Read statusword of joint 2 as Cia402State::kSwitchedOn
  2058. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2059. CIA402: Setting control_word of 2 to: Cia402Controlword::kEnableOperation
  2060. APPDRV: Writing controlword as 15
  2061. CIA402: Read statusword of joint 1 as Cia402State::kSwitchOnDisabled
  2062. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  2063. CIA402: Setting control_word of 1 to: Cia402Controlword::kShutdown
  2064. APPDRV: Writing controlword as 6
  2065. CIA402: Read statusword of joint 3 as Cia402State::kReadyToSwitchOn
  2066. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2067. CIA402: Setting control_word of 3 to: Cia402Controlword::kDisableOperation
  2068. APPDRV: Writing controlword as 7
  2069. CIA402: Read statusword of joint 2 as Cia402State::kOperationEnabled
  2070. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2071. CIA402: Setting control_word of 2 to: Cia402Controlword::kQuickStop
  2072. APPDRV: Writing controlword as 2
  2073. SYNAPT: Joint 2
  2074. SYNAPT: inPositionControlMode 1
  2075. SYNAPT: inOperationEnabledState 1
  2076. JOINT: Setting target position of joint 2 to 6114.
  2077. APPDRV: Writing target_position as 226
  2078. SYNAPT: Setting joint 2 target to 6114.
  2079. SYNAPT: Confirm: target to 6114.
  2080. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  2081. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  2082. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  2083. APPDRV: Writing controlword as 6
  2084. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  2085. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  2086. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  2087. APPDRV: Writing controlword as 6
  2088. CIA402: Read statusword of joint 0 as Cia402State::kReadyToSwitchOn
  2089. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2090. CIA402: Setting control_word of 0 to: Cia402Controlword::kDisableOperation
  2091. APPDRV: Writing controlword as 7
  2092. CIA402: Read statusword of joint 3 as Cia402State::kSwitchedOn
  2093. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2094. CIA402: Setting control_word of 3 to: Cia402Controlword::kEnableOperation
  2095. APPDRV: Writing controlword as 15
  2096. CIA402: Read statusword of joint 1 as Cia402State::kReadyToSwitchOn
  2097. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  2098. CIA402: Setting control_word of 1 to: Cia402Controlword::kDisableOperation
  2099. APPDRV: Writing controlword as 7
  2100. CIA402: Read statusword of joint 0 as Cia402State::kSwitchedOn
  2101. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2102. CIA402: Setting control_word of 0 to: Cia402Controlword::kEnableOperation
  2103. APPDRV: Writing controlword as 15
  2104. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  2105. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2106. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  2107. APPDRV: Writing controlword as 6
  2108. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  2109. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2110. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  2111. APPDRV: Writing controlword as 6
  2112. CIA402: Read statusword of joint 4 as Cia402State::kReadyToSwitchOn
  2113. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  2114. CIA402: Setting control_word of 4 to: Cia402Controlword::kDisableOperation
  2115. APPDRV: Writing controlword as 7
  2116. CIA402: Read statusword of joint 3 as Cia402State::kOperationEnabled
  2117. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2118. CIA402: Setting control_word of 3 to: Cia402Controlword::kQuickStop
  2119. APPDRV: Writing controlword as 2
  2120. SYNAPT: Joint 3
  2121. SYNAPT: inPositionControlMode 1
  2122. SYNAPT: inOperationEnabledState 1
  2123. JOINT: Setting target position of joint 3 to 500.
  2124. APPDRV: Writing target_position as 244
  2125. SYNAPT: Setting joint 3 target to 500.
  2126. SYNAPT: Confirm: target to 500.
  2127. CIA402: Read statusword of joint 1 as Cia402State::kSwitchedOn
  2128. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  2129. CIA402: Setting control_word of 1 to: Cia402Controlword::kEnableOperation
  2130. APPDRV: Writing controlword as 15
  2131. CIA402: Read statusword of joint 0 as Cia402State::kOperationEnabled
  2132. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2133. CIA402: Setting control_word of 0 to: Cia402Controlword::kQuickStop
  2134. APPDRV: Writing controlword as 2
  2135. SYNAPT: Joint 0
  2136. SYNAPT: inPositionControlMode 1
  2137. SYNAPT: inOperationEnabledState 1
  2138. JOINT: Setting target position of joint 0 to 1727.
  2139. APPDRV: Writing target_position as 191
  2140. SYNAPT: Setting joint 0 target to 1727.
  2141. SYNAPT: Confirm: target to 1727.
  2142. CIA402: Read statusword of joint 4 as Cia402State::kSwitchedOn
  2143. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  2144. CIA402: Setting control_word of 4 to: Cia402Controlword::kEnableOperation
  2145. APPDRV: Writing controlword as 15
  2146. CIA402: Read statusword of joint 2 as Cia402State::kReadyToSwitchOn
  2147. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2148. CIA402: Setting control_word of 2 to: Cia402Controlword::kDisableOperation
  2149. APPDRV: Writing controlword as 7
  2150. CIA402: Read statusword of joint 1 as Cia402State::kOperationEnabled
  2151. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  2152. CIA402: Setting control_word of 1 to: Cia402Controlword::kQuickStop
  2153. APPDRV: Writing controlword as 2
  2154. SYNAPT: Joint 1
  2155. SYNAPT: inPositionControlMode 1
  2156. SYNAPT: inOperationEnabledState 1
  2157. JOINT: Setting target position of joint 1 to 2585.
  2158. APPDRV: Writing target_position as 25
  2159. SYNAPT: Setting joint 1 target to 2585.
  2160. SYNAPT: Confirm: target to 2585.
  2161. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  2162. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2163. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  2164. APPDRV: Writing controlword as 6
  2165. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  2166. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2167. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  2168. APPDRV: Writing controlword as 6
  2169. CIA402: Read statusword of joint 4 as Cia402State::kOperationEnabled
  2170. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  2171. CIA402: Setting control_word of 4 to: Cia402Controlword::kQuickStop
  2172. APPDRV: Writing controlword as 2
  2173. SYNAPT: Joint 4
  2174. SYNAPT: inPositionControlMode 1
  2175. SYNAPT: inOperationEnabledState 1
  2176. JOINT: Setting target position of joint 4 to -5650.
  2177. APPDRV: Writing target_position as 238
  2178. SYNAPT: Setting joint 4 target to -5650.
  2179. SYNAPT: Confirm: target to -5650.
  2180. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  2181. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2182. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  2183. APPDRV: Writing controlword as 6
  2184. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  2185. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2186. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  2187. APPDRV: Writing controlword as 6
  2188. CIA402: Read statusword of joint 2 as Cia402State::kSwitchedOn
  2189. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2190. CIA402: Setting control_word of 2 to: Cia402Controlword::kEnableOperation
  2191. APPDRV: Writing controlword as 15
  2192. CIA402: Read statusword of joint 1 as Cia402State::kQuickStopActive
  2193. CIA402: Read statusword of joint 3 as Cia402State::kReadyToSwitchOn
  2194. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2195. CIA402: Setting control_word of 3 to: Cia402Controlword::kDisableOperation
  2196. APPDRV: Writing controlword as 7
  2197. CIA402: Read statusword of joint 4 as Cia402State::kQuickStopActive
  2198. CIA402: Read statusword of joint 2 as Cia402State::kOperationEnabled
  2199. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2200. CIA402: Setting control_word of 2 to: Cia402Controlword::kQuickStop
  2201. APPDRV: Writing controlword as 2
  2202. SYNAPT: Joint 2
  2203. SYNAPT: inPositionControlMode 1
  2204. SYNAPT: inOperationEnabledState 1
  2205. JOINT: Setting target position of joint 2 to 6114.
  2206. APPDRV: Writing target_position as 226
  2207. SYNAPT: Setting joint 2 target to 6114.
  2208. SYNAPT: Confirm: target to 6114.
  2209. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  2210. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  2211. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  2212. APPDRV: Writing controlword as 6
  2213. CIA402: Read statusword of joint 0 as Cia402State::kReadyToSwitchOn
  2214. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2215. CIA402: Setting control_word of 0 to: Cia402Controlword::kDisableOperation
  2216. APPDRV: Writing controlword as 7
  2217. CIA402: Read statusword of joint 3 as Cia402State::kSwitchedOn
  2218. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2219. CIA402: Setting control_word of 3 to: Cia402Controlword::kEnableOperation
  2220. APPDRV: Writing controlword as 15
  2221. CIA402: Read statusword of joint 1 as Cia402State::kSwitchOnDisabled
  2222. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  2223. CIA402: Setting control_word of 1 to: Cia402Controlword::kShutdown
  2224. APPDRV: Writing controlword as 6
  2225. CIA402: Read statusword of joint 0 as Cia402State::kSwitchedOn
  2226. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2227. CIA402: Setting control_word of 0 to: Cia402Controlword::kEnableOperation
  2228. APPDRV: Writing controlword as 15
  2229. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  2230. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2231. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  2232. APPDRV: Writing controlword as 6
  2233. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  2234. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2235. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  2236. APPDRV: Writing controlword as 6
  2237. CIA402: Read statusword of joint 4 as Cia402State::kReadyToSwitchOn
  2238. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  2239. CIA402: Setting control_word of 4 to: Cia402Controlword::kDisableOperation
  2240. APPDRV: Writing controlword as 7
  2241. CIA402: Read statusword of joint 3 as Cia402State::kOperationEnabled
  2242. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2243. CIA402: Setting control_word of 3 to: Cia402Controlword::kQuickStop
  2244. APPDRV: Writing controlword as 2
  2245. SYNAPT: Joint 3
  2246. SYNAPT: inPositionControlMode 1
  2247. SYNAPT: inOperationEnabledState 1
  2248. JOINT: Setting target position of joint 3 to 499.
  2249. APPDRV: Writing target_position as 243
  2250. SYNAPT: Setting joint 3 target to 499.
  2251. SYNAPT: Confirm: target to 499.
  2252. CIA402: Read statusword of joint 0 as Cia402State::kOperationEnabled
  2253. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2254. CIA402: Setting control_word of 0 to: Cia402Controlword::kQuickStop
  2255. APPDRV: Writing controlword as 2
  2256. SYNAPT: Joint 0
  2257. SYNAPT: inPositionControlMode 1
  2258. SYNAPT: inOperationEnabledState 1
  2259. JOINT: Setting target position of joint 0 to 1727.
  2260. APPDRV: Writing target_position as 191
  2261. SYNAPT: Setting joint 0 target to 1727.
  2262. SYNAPT: Confirm: target to 1727.
  2263. CIA402: Read statusword of joint 1 as Cia402State::kReadyToSwitchOn
  2264. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  2265. CIA402: Setting control_word of 1 to: Cia402Controlword::kDisableOperation
  2266. APPDRV: Writing controlword as 7
  2267. CIA402: Read statusword of joint 4 as Cia402State::kSwitchedOn
  2268. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  2269. CIA402: Setting control_word of 4 to: Cia402Controlword::kEnableOperation
  2270. APPDRV: Writing controlword as 15
  2271. CIA402: Read statusword of joint 2 as Cia402State::kReadyToSwitchOn
  2272. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2273. CIA402: Setting control_word of 2 to: Cia402Controlword::kDisableOperation
  2274. APPDRV: Writing controlword as 7
  2275. CIA402: Read statusword of joint 3 as Cia402State::kQuickStopActive
  2276. CIA402: Read statusword of joint 1 as Cia402State::kSwitchedOn
  2277. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  2278. CIA402: Setting control_word of 1 to: Cia402Controlword::kEnableOperation
  2279. APPDRV: Writing controlword as 15
  2280. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  2281. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2282. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  2283. APPDRV: Writing controlword as 6
  2284. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  2285. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2286. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  2287. APPDRV: Writing controlword as 6
  2288. CIA402: Read statusword of joint 4 as Cia402State::kOperationEnabled
  2289. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  2290. CIA402: Setting control_word of 4 to: Cia402Controlword::kQuickStop
  2291. APPDRV: Writing controlword as 2
  2292. SYNAPT: Joint 4
  2293. SYNAPT: inPositionControlMode 1
  2294. SYNAPT: inOperationEnabledState 1
  2295. JOINT: Setting target position of joint 4 to -5652.
  2296. APPDRV: Writing target_position as 236
  2297. SYNAPT: Setting joint 4 target to -5652.
  2298. SYNAPT: Confirm: target to -5652.
  2299. CIA402: Read statusword of joint 2 as Cia402State::kSwitchedOn
  2300. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2301. CIA402: Setting control_word of 2 to: Cia402Controlword::kEnableOperation
  2302. APPDRV: Writing controlword as 15
  2303. CIA402: Read statusword of joint 1 as Cia402State::kOperationEnabled
  2304. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  2305. CIA402: Setting control_word of 1 to: Cia402Controlword::kQuickStop
  2306. APPDRV: Writing controlword as 2
  2307. SYNAPT: Joint 1
  2308. SYNAPT: inPositionControlMode 1
  2309. SYNAPT: inOperationEnabledState 1
  2310. JOINT: Setting target position of joint 1 to 2582.
  2311. APPDRV: Writing target_position as 22
  2312. SYNAPT: Setting joint 1 target to 2582.
  2313. SYNAPT: Confirm: target to 2582.
  2314. CIA402: Read statusword of joint 3 as Cia402State::kReadyToSwitchOn
  2315. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2316. CIA402: Setting control_word of 3 to: Cia402Controlword::kDisableOperation
  2317. APPDRV: Writing controlword as 7
  2318. CIA402: Read statusword of joint 0 as Cia402State::kReadyToSwitchOn
  2319. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2320. CIA402: Setting control_word of 0 to: Cia402Controlword::kDisableOperation
  2321. APPDRV: Writing controlword as 7
  2322. CIA402: Read statusword of joint 2 as Cia402State::kOperationEnabled
  2323. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2324. CIA402: Setting control_word of 2 to: Cia402Controlword::kQuickStop
  2325. APPDRV: Writing controlword as 2
  2326. SYNAPT: Joint 2
  2327. SYNAPT: inPositionControlMode 1
  2328. SYNAPT: inOperationEnabledState 1
  2329. JOINT: Setting target position of joint 2 to 6112.
  2330. APPDRV: Writing target_position as 224
  2331. SYNAPT: Setting joint 2 target to 6112.
  2332. SYNAPT: Confirm: target to 6112.
  2333. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  2334. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  2335. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  2336. APPDRV: Writing controlword as 6
  2337. CIA402: Read statusword of joint 3 as Cia402State::kSwitchedOn
  2338. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2339. CIA402: Setting control_word of 3 to: Cia402Controlword::kEnableOperation
  2340. APPDRV: Writing controlword as 15
  2341. CIA402: Read statusword of joint 0 as Cia402State::kSwitchedOn
  2342. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2343. CIA402: Setting control_word of 0 to: Cia402Controlword::kEnableOperation
  2344. APPDRV: Writing controlword as 15
  2345. CIA402: Read statusword of joint 1 as Cia402State::kQuickStopActive
  2346. CIA402: Read statusword of joint 1 as Cia402State::kSwitchOnDisabled
  2347. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  2348. CIA402: Setting control_word of 1 to: Cia402Controlword::kShutdown
  2349. APPDRV: Writing controlword as 6
  2350. CIA402: Read statusword of joint 2 as Cia402State::kQuickStopActive
  2351. CIA402: Read statusword of joint 3 as Cia402State::kOperationEnabled
  2352. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2353. CIA402: Setting control_word of 3 to: Cia402Controlword::kQuickStop
  2354. APPDRV: Writing controlword as 2
  2355. SYNAPT: Joint 3
  2356. SYNAPT: inPositionControlMode 1
  2357. SYNAPT: inOperationEnabledState 1
  2358. JOINT: Setting target position of joint 3 to 503.
  2359. APPDRV: Writing target_position as 247
  2360. SYNAPT: Setting joint 3 target to 503.
  2361. SYNAPT: Confirm: target to 503.
  2362. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  2363. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2364. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  2365. APPDRV: Writing controlword as 6
  2366. CIA402: Read statusword of joint 4 as Cia402State::kReadyToSwitchOn
  2367. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  2368. CIA402: Setting control_word of 4 to: Cia402Controlword::kDisableOperation
  2369. APPDRV: Writing controlword as 7
  2370. CIA402: Read statusword of joint 0 as Cia402State::kOperationEnabled
  2371. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2372. CIA402: Setting control_word of 0 to: Cia402Controlword::kQuickStop
  2373. APPDRV: Writing controlword as 2
  2374. SYNAPT: Joint 0
  2375. SYNAPT: inPositionControlMode 1
  2376. SYNAPT: inOperationEnabledState 1
  2377. JOINT: Setting target position of joint 0 to 1726.
  2378. APPDRV: Writing target_position as 190
  2379. SYNAPT: Setting joint 0 target to 1726.
  2380. SYNAPT: Confirm: target to 1726.
  2381. CIA402: Read statusword of joint 1 as Cia402State::kReadyToSwitchOn
  2382. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  2383. CIA402: Setting control_word of 1 to: Cia402Controlword::kDisableOperation
  2384. APPDRV: Writing controlword as 7
  2385. CIA402: Read statusword of joint 4 as Cia402State::kSwitchedOn
  2386. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  2387. CIA402: Setting control_word of 4 to: Cia402Controlword::kEnableOperation
  2388. APPDRV: Writing controlword as 15
  2389. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  2390. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2391. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  2392. APPDRV: Writing controlword as 6
  2393. CIA402: Read statusword of joint 2 as Cia402State::kReadyToSwitchOn
  2394. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2395. CIA402: Setting control_word of 2 to: Cia402Controlword::kDisableOperation
  2396. APPDRV: Writing controlword as 7
  2397. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  2398. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2399. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  2400. APPDRV: Writing controlword as 6
  2401. CIA402: Read statusword of joint 1 as Cia402State::kSwitchedOn
  2402. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  2403. CIA402: Setting control_word of 1 to: Cia402Controlword::kEnableOperation
  2404. APPDRV: Writing controlword as 15
  2405. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  2406. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2407. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  2408. APPDRV: Writing controlword as 6
  2409. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  2410. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2411. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  2412. APPDRV: Writing controlword as 6
  2413. CIA402: Read statusword of joint 4 as Cia402State::kOperationEnabled
  2414. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  2415. CIA402: Setting control_word of 4 to: Cia402Controlword::kQuickStop
  2416. APPDRV: Writing controlword as 2
  2417. SYNAPT: Joint 4
  2418. SYNAPT: inPositionControlMode 1
  2419. SYNAPT: inOperationEnabledState 1
  2420. JOINT: Setting target position of joint 4 to -5650.
  2421. APPDRV: Writing target_position as 238
  2422. SYNAPT: Setting joint 4 target to -5650.
  2423. SYNAPT: Confirm: target to -5650.
  2424. CIA402: Read statusword of joint 2 as Cia402State::kSwitchedOn
  2425. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2426. CIA402: Setting control_word of 2 to: Cia402Controlword::kEnableOperation
  2427. APPDRV: Writing controlword as 15
  2428. CIA402: Read statusword of joint 3 as Cia402State::kReadyToSwitchOn
  2429. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2430. CIA402: Setting control_word of 3 to: Cia402Controlword::kDisableOperation
  2431. APPDRV: Writing controlword as 7
  2432. CIA402: Read statusword of joint 1 as Cia402State::kOperationEnabled
  2433. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  2434. CIA402: Setting control_word of 1 to: Cia402Controlword::kQuickStop
  2435. APPDRV: Writing controlword as 2
  2436. SYNAPT: Joint 1
  2437. SYNAPT: inPositionControlMode 1
  2438. SYNAPT: inOperationEnabledState 1
  2439. JOINT: Setting target position of joint 1 to 2591.
  2440. APPDRV: Writing target_position as 31
  2441. SYNAPT: Setting joint 1 target to 2591.
  2442. SYNAPT: Confirm: target to 2591.
  2443. CIA402: Read statusword of joint 0 as Cia402State::kReadyToSwitchOn
  2444. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2445. CIA402: Setting control_word of 0 to: Cia402Controlword::kDisableOperation
  2446. APPDRV: Writing controlword as 7
  2447. CIA402: Read statusword of joint 2 as Cia402State::kOperationEnabled
  2448. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2449. CIA402: Setting control_word of 2 to: Cia402Controlword::kQuickStop
  2450. APPDRV: Writing controlword as 2
  2451. SYNAPT: Joint 2
  2452. SYNAPT: inPositionControlMode 1
  2453. SYNAPT: inOperationEnabledState 1
  2454. JOINT: Setting target position of joint 2 to 6115.
  2455. APPDRV: Writing target_position as 227
  2456. SYNAPT: Setting joint 2 target to 6115.
  2457. SYNAPT: Confirm: target to 6115.
  2458. CIA402: Read statusword of joint 3 as Cia402State::kSwitchedOn
  2459. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2460. CIA402: Setting control_word of 3 to: Cia402Controlword::kEnableOperation
  2461. APPDRV: Writing controlword as 15
  2462. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  2463. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  2464. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  2465. APPDRV: Writing controlword as 6
  2466. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  2467. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  2468. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  2469. APPDRV: Writing controlword as 6
  2470. CIA402: Read statusword of joint 0 as Cia402State::kSwitchedOn
  2471. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2472. CIA402: Setting control_word of 0 to: Cia402Controlword::kEnableOperation
  2473. APPDRV: Writing controlword as 15
  2474. CIA402: Read statusword of joint 1 as Cia402State::kQuickStopActive
  2475. CIA402: Read statusword of joint 2 as Cia402State::kQuickStopActive
  2476. CIA402: Read statusword of joint 3 as Cia402State::kOperationEnabled
  2477. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2478. CIA402: Setting control_word of 3 to: Cia402Controlword::kQuickStop
  2479. APPDRV: Writing controlword as 2
  2480. SYNAPT: Joint 3
  2481. SYNAPT: inPositionControlMode 1
  2482. SYNAPT: inOperationEnabledState 1
  2483. JOINT: Setting target position of joint 3 to 498.
  2484. APPDRV: Writing target_position as 242
  2485. SYNAPT: Setting joint 3 target to 498.
  2486. SYNAPT: Confirm: target to 498.
  2487. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  2488. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2489. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  2490. APPDRV: Writing controlword as 6
  2491. CIA402: Read statusword of joint 0 as Cia402State::kOperationEnabled
  2492. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2493. CIA402: Setting control_word of 0 to: Cia402Controlword::kQuickStop
  2494. APPDRV: Writing controlword as 2
  2495. SYNAPT: Joint 0
  2496. SYNAPT: inPositionControlMode 1
  2497. SYNAPT: inOperationEnabledState 1
  2498. JOINT: Setting target position of joint 0 to 1726.
  2499. APPDRV: Writing target_position as 190
  2500. SYNAPT: Setting joint 0 target to 1726.
  2501. SYNAPT: Confirm: target to 1726.
  2502. CIA402: Read statusword of joint 4 as Cia402State::kReadyToSwitchOn
  2503. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  2504. CIA402: Setting control_word of 4 to: Cia402Controlword::kDisableOperation
  2505. APPDRV: Writing controlword as 7
  2506. CIA402: Read statusword of joint 1 as Cia402State::kSwitchOnDisabled
  2507. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  2508. CIA402: Setting control_word of 1 to: Cia402Controlword::kShutdown
  2509. APPDRV: Writing controlword as 6
  2510. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  2511. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2512. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  2513. APPDRV: Writing controlword as 6
  2514. CIA402: Read statusword of joint 2 as Cia402State::kReadyToSwitchOn
  2515. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2516. CIA402: Setting control_word of 2 to: Cia402Controlword::kDisableOperation
  2517. APPDRV: Writing controlword as 7
  2518. CIA402: Read statusword of joint 4 as Cia402State::kSwitchedOn
  2519. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  2520. CIA402: Setting control_word of 4 to: Cia402Controlword::kEnableOperation
  2521. APPDRV: Writing controlword as 15
  2522. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  2523. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2524. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  2525. APPDRV: Writing controlword as 6
  2526. CIA402: Read statusword of joint 2 as Cia402State::kSwitchedOn
  2527. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2528. CIA402: Setting control_word of 2 to: Cia402Controlword::kEnableOperation
  2529. APPDRV: Writing controlword as 15
  2530. CIA402: Read statusword of joint 1 as Cia402State::kReadyToSwitchOn
  2531. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  2532. CIA402: Setting control_word of 1 to: Cia402Controlword::kDisableOperation
  2533. APPDRV: Writing controlword as 7
  2534. CIA402: Read statusword of joint 3 as Cia402State::kReadyToSwitchOn
  2535. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2536. CIA402: Setting control_word of 3 to: Cia402Controlword::kDisableOperation
  2537. APPDRV: Writing controlword as 7
  2538. CIA402: Read statusword of joint 4 as Cia402State::kOperationEnabled
  2539. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  2540. CIA402: Setting control_word of 4 to: Cia402Controlword::kQuickStop
  2541. APPDRV: Writing controlword as 2
  2542. SYNAPT: Joint 4
  2543. SYNAPT: inPositionControlMode 1
  2544. SYNAPT: inOperationEnabledState 1
  2545. JOINT: Setting target position of joint 4 to -5650.
  2546. APPDRV: Writing target_position as 238
  2547. SYNAPT: Setting joint 4 target to -5650.
  2548. SYNAPT: Confirm: target to -5650.
  2549. CIA402: Read statusword of joint 2 as Cia402State::kOperationEnabled
  2550. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2551. CIA402: Setting control_word of 2 to: Cia402Controlword::kQuickStop
  2552. APPDRV: Writing controlword as 2
  2553. SYNAPT: Joint 2
  2554. SYNAPT: inPositionControlMode 1
  2555. SYNAPT: inOperationEnabledState 1
  2556. JOINT: Setting target position of joint 2 to 6112.
  2557. APPDRV: Writing target_position as 224
  2558. SYNAPT: Setting joint 2 target to 6112.
  2559. SYNAPT: Confirm: target to 6112.
  2560. CIA402: Read statusword of joint 0 as Cia402State::kReadyToSwitchOn
  2561. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2562. CIA402: Setting control_word of 0 to: Cia402Controlword::kDisableOperation
  2563. APPDRV: Writing controlword as 7
  2564. CIA402: Read statusword of joint 1 as Cia402State::kSwitchedOn
  2565. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  2566. CIA402: Setting control_word of 1 to: Cia402Controlword::kEnableOperation
  2567. APPDRV: Writing controlword as 15
  2568. CIA402: Read statusword of joint 3 as Cia402State::kSwitchedOn
  2569. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2570. CIA402: Setting control_word of 3 to: Cia402Controlword::kEnableOperation
  2571. APPDRV: Writing controlword as 15
  2572. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  2573. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  2574. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  2575. APPDRV: Writing controlword as 6
  2576. CIA402: Read statusword of joint 0 as Cia402State::kSwitchedOn
  2577. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2578. CIA402: Setting control_word of 0 to: Cia402Controlword::kEnableOperation
  2579. APPDRV: Writing controlword as 15
  2580. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  2581. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2582. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  2583. APPDRV: Writing controlword as 6
  2584. CIA402: Read statusword of joint 1 as Cia402State::kOperationEnabled
  2585. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  2586. CIA402: Setting control_word of 1 to: Cia402Controlword::kQuickStop
  2587. APPDRV: Writing controlword as 2
  2588. SYNAPT: Joint 1
  2589. SYNAPT: inPositionControlMode 1
  2590. SYNAPT: inOperationEnabledState 1
  2591. JOINT: Setting target position of joint 1 to 2572.
  2592. APPDRV: Writing target_position as 12
  2593. SYNAPT: Setting joint 1 target to 2572.
  2594. SYNAPT: Confirm: target to 2572.
  2595. CIA402: Read statusword of joint 3 as Cia402State::kOperationEnabled
  2596. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2597. CIA402: Setting control_word of 3 to: Cia402Controlword::kQuickStop
  2598. APPDRV: Writing controlword as 2
  2599. SYNAPT: Joint 3
  2600. SYNAPT: inPositionControlMode 1
  2601. SYNAPT: inOperationEnabledState 1
  2602. JOINT: Setting target position of joint 3 to 499.
  2603. APPDRV: Writing target_position as 243
  2604. SYNAPT: Setting joint 3 target to 499.
  2605. SYNAPT: Confirm: target to 499.
  2606. CIA402: Read statusword of joint 0 as Cia402State::kOperationEnabled
  2607. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2608. CIA402: Setting control_word of 0 to: Cia402Controlword::kQuickStop
  2609. APPDRV: Writing controlword as 2
  2610. SYNAPT: Joint 0
  2611. SYNAPT: inPositionControlMode 1
  2612. SYNAPT: inOperationEnabledState 1
  2613. JOINT: Setting target position of joint 0 to 1727.
  2614. APPDRV: Writing target_position as 191
  2615. SYNAPT: Setting joint 0 target to 1727.
  2616. SYNAPT: Confirm: target to 1727.
  2617. CIA402: Read statusword of joint 4 as Cia402State::kReadyToSwitchOn
  2618. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  2619. CIA402: Setting control_word of 4 to: Cia402Controlword::kDisableOperation
  2620. APPDRV: Writing controlword as 7
  2621. CIA402: Read statusword of joint 2 as Cia402State::kReadyToSwitchOn
  2622. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2623. CIA402: Setting control_word of 2 to: Cia402Controlword::kDisableOperation
  2624. APPDRV: Writing controlword as 7
  2625. CIA402: Read statusword of joint 1 as Cia402State::kQuickStopActive
  2626. CIA402: Read statusword of joint 3 as Cia402State::kQuickStopActive
  2627. CIA402: Read statusword of joint 4 as Cia402State::kSwitchedOn
  2628. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  2629. CIA402: Setting control_word of 4 to: Cia402Controlword::kEnableOperation
  2630. APPDRV: Writing controlword as 15
  2631. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  2632. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2633. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  2634. APPDRV: Writing controlword as 6
  2635. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  2636. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2637. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  2638. APPDRV: Writing controlword as 6
  2639. CIA402: Read statusword of joint 2 as Cia402State::kSwitchedOn
  2640. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2641. CIA402: Setting control_word of 2 to: Cia402Controlword::kEnableOperation
  2642. APPDRV: Writing controlword as 15
  2643. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  2644. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2645. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  2646. APPDRV: Writing controlword as 6
  2647. CIA402: Read statusword of joint 1 as Cia402State::kSwitchOnDisabled
  2648. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  2649. CIA402: Setting control_word of 1 to: Cia402Controlword::kShutdown
  2650. APPDRV: Writing controlword as 6
  2651. CIA402: Read statusword of joint 4 as Cia402State::kOperationEnabled
  2652. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  2653. CIA402: Setting control_word of 4 to: Cia402Controlword::kQuickStop
  2654. APPDRV: Writing controlword as 2
  2655. SYNAPT: Joint 4
  2656. SYNAPT: inPositionControlMode 1
  2657. SYNAPT: inOperationEnabledState 1
  2658. JOINT: Setting target position of joint 4 to -5649.
  2659. APPDRV: Writing target_position as 239
  2660. SYNAPT: Setting joint 4 target to -5649.
  2661. SYNAPT: Confirm: target to -5649.
  2662. CIA402: Read statusword of joint 2 as Cia402State::kOperationEnabled
  2663. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2664. CIA402: Setting control_word of 2 to: Cia402Controlword::kQuickStop
  2665. APPDRV: Writing controlword as 2
  2666. SYNAPT: Joint 2
  2667. SYNAPT: inPositionControlMode 1
  2668. SYNAPT: inOperationEnabledState 1
  2669. JOINT: Setting target position of joint 2 to 6113.
  2670. APPDRV: Writing target_position as 225
  2671. SYNAPT: Setting joint 2 target to 6113.
  2672. SYNAPT: Confirm: target to 6113.
  2673. CIA402: Read statusword of joint 3 as Cia402State::kReadyToSwitchOn
  2674. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2675. CIA402: Setting control_word of 3 to: Cia402Controlword::kDisableOperation
  2676. APPDRV: Writing controlword as 7
  2677. CIA402: Read statusword of joint 0 as Cia402State::kReadyToSwitchOn
  2678. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2679. CIA402: Setting control_word of 0 to: Cia402Controlword::kDisableOperation
  2680. APPDRV: Writing controlword as 7
  2681. CIA402: Read statusword of joint 1 as Cia402State::kReadyToSwitchOn
  2682. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  2683. CIA402: Setting control_word of 1 to: Cia402Controlword::kDisableOperation
  2684. APPDRV: Writing controlword as 7
  2685. CIA402: Read statusword of joint 4 as Cia402State::kQuickStopActive
  2686. CIA402: Read statusword of joint 3 as Cia402State::kSwitchedOn
  2687. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2688. CIA402: Setting control_word of 3 to: Cia402Controlword::kEnableOperation
  2689. APPDRV: Writing controlword as 15
  2690. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  2691. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  2692. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  2693. APPDRV: Writing controlword as 6
  2694. CIA402: Read statusword of joint 0 as Cia402State::kSwitchedOn
  2695. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2696. CIA402: Setting control_word of 0 to: Cia402Controlword::kEnableOperation
  2697. APPDRV: Writing controlword as 15
  2698. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  2699. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2700. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  2701. APPDRV: Writing controlword as 6
  2702. CIA402: Read statusword of joint 1 as Cia402State::kSwitchedOn
  2703. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  2704. CIA402: Setting control_word of 1 to: Cia402Controlword::kEnableOperation
  2705. APPDRV: Writing controlword as 15
  2706. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  2707. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2708. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  2709. APPDRV: Writing controlword as 6
  2710. CIA402: Read statusword of joint 3 as Cia402State::kOperationEnabled
  2711. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2712. CIA402: Setting control_word of 3 to: Cia402Controlword::kQuickStop
  2713. APPDRV: Writing controlword as 2
  2714. SYNAPT: Joint 3
  2715. SYNAPT: inPositionControlMode 1
  2716. SYNAPT: inOperationEnabledState 1
  2717. JOINT: Setting target position of joint 3 to 500.
  2718. APPDRV: Writing target_position as 244
  2719. SYNAPT: Setting joint 3 target to 500.
  2720. SYNAPT: Confirm: target to 500.
  2721. CIA402: Read statusword of joint 0 as Cia402State::kOperationEnabled
  2722. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2723. CIA402: Setting control_word of 0 to: Cia402Controlword::kQuickStop
  2724. APPDRV: Writing controlword as 2
  2725. SYNAPT: Joint 0
  2726. SYNAPT: inPositionControlMode 1
  2727. SYNAPT: inOperationEnabledState 1
  2728. JOINT: Setting target position of joint 0 to 1727.
  2729. APPDRV: Writing target_position as 191
  2730. SYNAPT: Setting joint 0 target to 1727.
  2731. SYNAPT: Confirm: target to 1727.
  2732. CIA402: Read statusword of joint 4 as Cia402State::kReadyToSwitchOn
  2733. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  2734. CIA402: Setting control_word of 4 to: Cia402Controlword::kDisableOperation
  2735. APPDRV: Writing controlword as 7
  2736. CIA402: Read statusword of joint 1 as Cia402State::kOperationEnabled
  2737. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  2738. CIA402: Setting control_word of 1 to: Cia402Controlword::kQuickStop
  2739. APPDRV: Writing controlword as 2
  2740. SYNAPT: Joint 1
  2741. SYNAPT: inPositionControlMode 1
  2742. SYNAPT: inOperationEnabledState 1
  2743. JOINT: Setting target position of joint 1 to 2565.
  2744. APPDRV: Writing target_position as 5
  2745. SYNAPT: Setting joint 1 target to 2565.
  2746. SYNAPT: Confirm: target to 2565.
  2747. CIA402: Read statusword of joint 2 as Cia402State::kReadyToSwitchOn
  2748. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2749. CIA402: Setting control_word of 2 to: Cia402Controlword::kDisableOperation
  2750. APPDRV: Writing controlword as 7
  2751. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  2752. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2753. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  2754. APPDRV: Writing controlword as 6
  2755. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  2756. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2757. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  2758. APPDRV: Writing controlword as 6
  2759. CIA402: Read statusword of joint 4 as Cia402State::kSwitchedOn
  2760. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  2761. CIA402: Setting control_word of 4 to: Cia402Controlword::kEnableOperation
  2762. APPDRV: Writing controlword as 15
  2763. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  2764. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2765. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  2766. APPDRV: Writing controlword as 6
  2767. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  2768. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2769. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  2770. APPDRV: Writing controlword as 6
  2771. CIA402: Read statusword of joint 2 as Cia402State::kSwitchedOn
  2772. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2773. CIA402: Setting control_word of 2 to: Cia402Controlword::kEnableOperation
  2774. APPDRV: Writing controlword as 15
  2775. CIA402: Read statusword of joint 1 as Cia402State::kQuickStopActive
  2776. CIA402: Read statusword of joint 3 as Cia402State::kReadyToSwitchOn
  2777. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2778. CIA402: Setting control_word of 3 to: Cia402Controlword::kDisableOperation
  2779. APPDRV: Writing controlword as 7
  2780. CIA402: Read statusword of joint 4 as Cia402State::kOperationEnabled
  2781. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  2782. CIA402: Setting control_word of 4 to: Cia402Controlword::kQuickStop
  2783. APPDRV: Writing controlword as 2
  2784. SYNAPT: Joint 4
  2785. SYNAPT: inPositionControlMode 1
  2786. SYNAPT: inOperationEnabledState 1
  2787. JOINT: Setting target position of joint 4 to -5651.
  2788. APPDRV: Writing target_position as 237
  2789. SYNAPT: Setting joint 4 target to -5651.
  2790. SYNAPT: Confirm: target to -5651.
  2791. CIA402: Read statusword of joint 1 as Cia402State::kSwitchOnDisabled
  2792. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  2793. CIA402: Setting control_word of 1 to: Cia402Controlword::kShutdown
  2794. APPDRV: Writing controlword as 6
  2795. CIA402: Read statusword of joint 0 as Cia402State::kReadyToSwitchOn
  2796. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2797. CIA402: Setting control_word of 0 to: Cia402Controlword::kDisableOperation
  2798. APPDRV: Writing controlword as 7
  2799. CIA402: Read statusword of joint 2 as Cia402State::kOperationEnabled
  2800. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2801. CIA402: Setting control_word of 2 to: Cia402Controlword::kQuickStop
  2802. APPDRV: Writing controlword as 2
  2803. SYNAPT: Joint 2
  2804. SYNAPT: inPositionControlMode 1
  2805. SYNAPT: inOperationEnabledState 1
  2806. JOINT: Setting target position of joint 2 to 6113.
  2807. APPDRV: Writing target_position as 225
  2808. SYNAPT: Setting joint 2 target to 6113.
  2809. SYNAPT: Confirm: target to 6113.
  2810. CIA402: Read statusword of joint 3 as Cia402State::kSwitchedOn
  2811. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2812. CIA402: Setting control_word of 3 to: Cia402Controlword::kEnableOperation
  2813. APPDRV: Writing controlword as 15
  2814. CIA402: Read statusword of joint 0 as Cia402State::kSwitchedOn
  2815. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2816. CIA402: Setting control_word of 0 to: Cia402Controlword::kEnableOperation
  2817. APPDRV: Writing controlword as 15
  2818. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  2819. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  2820. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  2821. APPDRV: Writing controlword as 6
  2822. ^CSignal handler called.
  2823. CIA402: Read statusword of joint 1 as Cia402State::kReadyToSwitchOn
  2824. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  2825. CIA402: Setting control_word of 1 to: Cia402Controlword::kDisableOperation
  2826. APPDRV: Writing controlword as 7
  2827. CIA402: Read statusword of joint 3 as Cia402State::kOperationEnabled
  2828. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2829. CIA402: Setting control_word of 3 to: Cia402Controlword::kQuickStop
  2830. APPDRV: Writing controlword as 2
  2831. SYNAPT: Joint 3
  2832. SYNAPT: inPositionControlMode 1
  2833. SYNAPT: inOperationEnabledState 1
  2834. JOINT: Setting target position of joint 3 to 501.
  2835. APPDRV: Writing target_position as 245
  2836. SYNAPT: Setting joint 3 target to 501.
  2837. SYNAPT: Confirm: target to 501.
  2838. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  2839. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2840. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  2841. APPDRV: Writing controlword as 6
  2842. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  2843. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2844. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  2845. APPDRV: Writing controlword as 6
  2846. CIA402: Read statusword of joint 0 as Cia402State::kOperationEnabled
  2847. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2848. CIA402: Setting control_word of 0 to: Cia402Controlword::kQuickStop
  2849. APPDRV: Writing controlword as 2
  2850. SYNAPT: Joint 0
  2851. SYNAPT: inPositionControlMode 1
  2852. SYNAPT: inOperationEnabledState 1
  2853. JOINT: Setting target position of joint 0 to 1724.
  2854. APPDRV: Writing target_position as 188
  2855. SYNAPT: Setting joint 0 target to 1724.
  2856. SYNAPT: Confirm: target to 1724.
  2857. CIA402: Read statusword of joint 1 as Cia402State::kSwitchedOn
  2858. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  2859. CIA402: Setting control_word of 1 to: Cia402Controlword::kEnableOperation
  2860. APPDRV: Writing controlword as 15
  2861. CIA402: Read statusword of joint 4 as Cia402State::kReadyToSwitchOn
  2862. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  2863. CIA402: Setting control_word of 4 to: Cia402Controlword::kDisableOperation
  2864. APPDRV: Writing controlword as 7
  2865. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  2866. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2867. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  2868. APPDRV: Writing controlword as 6
  2869. CIA402: Read statusword of joint 2 as Cia402State::kReadyToSwitchOn
  2870. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2871. CIA402: Setting control_word of 2 to: Cia402Controlword::kDisableOperation
  2872. APPDRV: Writing controlword as 7
  2873. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  2874. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2875. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  2876. APPDRV: Writing controlword as 6
  2877. CIA402: Read statusword of joint 1 as Cia402State::kOperationEnabled
  2878. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  2879. CIA402: Setting control_word of 1 to: Cia402Controlword::kQuickStop
  2880. APPDRV: Writing controlword as 2
  2881. SYNAPT: Joint 1
  2882. SYNAPT: inPositionControlMode 1
  2883. SYNAPT: inOperationEnabledState 1
  2884. JOINT: Setting target position of joint 1 to 2586.
  2885. APPDRV: Writing target_position as 26
  2886. SYNAPT: Setting joint 1 target to 2586.
  2887. SYNAPT: Confirm: target to 2586.
  2888. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  2889. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2890. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  2891. APPDRV: Writing controlword as 6
  2892. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  2893. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2894. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  2895. APPDRV: Writing controlword as 6
  2896. CIA402: Read statusword of joint 4 as Cia402State::kSwitchedOn
  2897. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  2898. CIA402: Setting control_word of 4 to: Cia402Controlword::kEnableOperation
  2899. APPDRV: Writing controlword as 15
  2900. CIA402: Read statusword of joint 2 as Cia402State::kSwitchedOn
  2901. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2902. CIA402: Setting control_word of 2 to: Cia402Controlword::kEnableOperation
  2903. APPDRV: Writing controlword as 15
  2904. CIA402: Read statusword of joint 3 as Cia402State::kReadyToSwitchOn
  2905. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2906. CIA402: Setting control_word of 3 to: Cia402Controlword::kDisableOperation
  2907. APPDRV: Writing controlword as 7
  2908. CIA402: Read statusword of joint 1 as Cia402State::kSwitchOnDisabled
  2909. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  2910. CIA402: Setting control_word of 1 to: Cia402Controlword::kShutdown
  2911. APPDRV: Writing controlword as 6
  2912. CIA402: Read statusword of joint 0 as Cia402State::kReadyToSwitchOn
  2913. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2914. CIA402: Setting control_word of 0 to: Cia402Controlword::kDisableOperation
  2915. APPDRV: Writing controlword as 7
  2916. CIA402: Read statusword of joint 1 as Cia402State::kSwitchOnDisabled
  2917. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  2918. CIA402: Setting control_word of 1 to: Cia402Controlword::kShutdown
  2919. APPDRV: Writing controlword as 6
  2920. CIA402: Read statusword of joint 4 as Cia402State::kOperationEnabled
  2921. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  2922. CIA402: Setting control_word of 4 to: Cia402Controlword::kQuickStop
  2923. APPDRV: Writing controlword as 2
  2924. SYNAPT: Joint 4
  2925. SYNAPT: inPositionControlMode 1
  2926. SYNAPT: inOperationEnabledState 1
  2927. JOINT: Setting target position of joint 4 to -5650.
  2928. APPDRV: Writing target_position as 238
  2929. SYNAPT: Setting joint 4 target to -5650.
  2930. SYNAPT: Confirm: target to -5650.
  2931. CIA402: Read statusword of joint 2 as Cia402State::kOperationEnabled
  2932. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2933. CIA402: Setting control_word of 2 to: Cia402Controlword::kQuickStop
  2934. APPDRV: Writing controlword as 2
  2935. SYNAPT: Joint 2
  2936. SYNAPT: inPositionControlMode 1
  2937. SYNAPT: inOperationEnabledState 1
  2938. JOINT: Setting target position of joint 2 to 6116.
  2939. APPDRV: Writing target_position as 228
  2940. SYNAPT: Setting joint 2 target to 6116.
  2941. SYNAPT: Confirm: target to 6116.
  2942. CIA402: Read statusword of joint 3 as Cia402State::kSwitchedOn
  2943. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2944. CIA402: Setting control_word of 3 to: Cia402Controlword::kEnableOperation
  2945. APPDRV: Writing controlword as 15
  2946. CIA402: Read statusword of joint 0 as Cia402State::kSwitchedOn
  2947. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2948. CIA402: Setting control_word of 0 to: Cia402Controlword::kEnableOperation
  2949. APPDRV: Writing controlword as 15
  2950. CIA402: Read statusword of joint 1 as Cia402State::kReadyToSwitchOn
  2951. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  2952. CIA402: Setting control_word of 1 to: Cia402Controlword::kDisableOperation
  2953. APPDRV: Writing controlword as 7
  2954. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  2955. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  2956. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  2957. APPDRV: Writing controlword as 6
  2958. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  2959. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  2960. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  2961. APPDRV: Writing controlword as 6
  2962. CIA402: Read statusword of joint 3 as Cia402State::kOperationEnabled
  2963. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  2964. CIA402: Setting control_word of 3 to: Cia402Controlword::kQuickStop
  2965. APPDRV: Writing controlword as 2
  2966. SYNAPT: Joint 3
  2967. SYNAPT: inPositionControlMode 1
  2968. SYNAPT: inOperationEnabledState 1
  2969. JOINT: Setting target position of joint 3 to 499.
  2970. APPDRV: Writing target_position as 243
  2971. SYNAPT: Setting joint 3 target to 499.
  2972. SYNAPT: Confirm: target to 499.
  2973. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  2974. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2975. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  2976. APPDRV: Writing controlword as 6
  2977. CIA402: Read statusword of joint 0 as Cia402State::kOperationEnabled
  2978. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  2979. CIA402: Setting control_word of 0 to: Cia402Controlword::kQuickStop
  2980. APPDRV: Writing controlword as 2
  2981. SYNAPT: Joint 0
  2982. SYNAPT: inPositionControlMode 1
  2983. SYNAPT: inOperationEnabledState 1
  2984. JOINT: Setting target position of joint 0 to 1728.
  2985. APPDRV: Writing target_position as 192
  2986. SYNAPT: Setting joint 0 target to 1728.
  2987. SYNAPT: Confirm: target to 1728.
  2988. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  2989. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  2990. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  2991. APPDRV: Writing controlword as 6
  2992. CIA402: Read statusword of joint 1 as Cia402State::kSwitchedOn
  2993. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  2994. CIA402: Setting control_word of 1 to: Cia402Controlword::kEnableOperation
  2995. APPDRV: Writing controlword as 15
  2996. CIA402: Read statusword of joint 4 as Cia402State::kReadyToSwitchOn
  2997. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  2998. CIA402: Setting control_word of 4 to: Cia402Controlword::kDisableOperation
  2999. APPDRV: Writing controlword as 7
  3000. CIA402: Read statusword of joint 3 as Cia402State::kQuickStopActive
  3001. CIA402: Read statusword of joint 2 as Cia402State::kReadyToSwitchOn
  3002. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  3003. CIA402: Setting control_word of 2 to: Cia402Controlword::kDisableOperation
  3004. APPDRV: Writing controlword as 7
  3005. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  3006. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  3007. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  3008. APPDRV: Writing controlword as 6
  3009. CIA402: Read statusword of joint 1 as Cia402State::kOperationEnabled
  3010. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  3011. CIA402: Setting control_word of 1 to: Cia402Controlword::kQuickStop
  3012. APPDRV: Writing controlword as 2
  3013. SYNAPT: Joint 1
  3014. SYNAPT: inPositionControlMode 1
  3015. SYNAPT: inOperationEnabledState 1
  3016. JOINT: Setting target position of joint 1 to 2564.
  3017. APPDRV: Writing target_position as 4
  3018. SYNAPT: Setting joint 1 target to 2564.
  3019. SYNAPT: Confirm: target to 2564.
  3020. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  3021. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  3022. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  3023. APPDRV: Writing controlword as 6
  3024. CIA402: Read statusword of joint 4 as Cia402State::kSwitchedOn
  3025. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  3026. CIA402: Setting control_word of 4 to: Cia402Controlword::kEnableOperation
  3027. APPDRV: Writing controlword as 15
  3028. CIA402: Read statusword of joint 2 as Cia402State::kSwitchedOn
  3029. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  3030. CIA402: Setting control_word of 2 to: Cia402Controlword::kEnableOperation
  3031. APPDRV: Writing controlword as 15
  3032. CIA402: Read statusword of joint 3 as Cia402State::kReadyToSwitchOn
  3033. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  3034. CIA402: Setting control_word of 3 to: Cia402Controlword::kDisableOperation
  3035. APPDRV: Writing controlword as 7
  3036. CIA402: Read statusword of joint 1 as Cia402State::kQuickStopActive
  3037. CIA402: Read statusword of joint 4 as Cia402State::kOperationEnabled
  3038. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  3039. CIA402: Setting control_word of 4 to: Cia402Controlword::kQuickStop
  3040. APPDRV: Writing controlword as 2
  3041. SYNAPT: Joint 4
  3042. SYNAPT: inPositionControlMode 1
  3043. SYNAPT: inOperationEnabledState 1
  3044. JOINT: Setting target position of joint 4 to -5650.
  3045. APPDRV: Writing target_position as 238
  3046. SYNAPT: Setting joint 4 target to -5650.
  3047. SYNAPT: Confirm: target to -5650.
  3048. CIA402: Read statusword of joint 1 as Cia402State::kSwitchOnDisabled
  3049. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  3050. CIA402: Setting control_word of 1 to: Cia402Controlword::kShutdown
  3051. APPDRV: Writing controlword as 6
  3052. CIA402: Read statusword of joint 0 as Cia402State::kReadyToSwitchOn
  3053. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  3054. CIA402: Setting control_word of 0 to: Cia402Controlword::kDisableOperation
  3055. APPDRV: Writing controlword as 7
  3056. CIA402: Read statusword of joint 2 as Cia402State::kOperationEnabled
  3057. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  3058. CIA402: Setting control_word of 2 to: Cia402Controlword::kQuickStop
  3059. APPDRV: Writing controlword as 2
  3060. SYNAPT: Joint 2
  3061. SYNAPT: inPositionControlMode 1
  3062. SYNAPT: inOperationEnabledState 1
  3063. JOINT: Setting target position of joint 2 to 6114.
  3064. APPDRV: Writing target_position as 226
  3065. SYNAPT: Setting joint 2 target to 6114.
  3066. SYNAPT: Confirm: target to 6114.
  3067. CIA402: Read statusword of joint 3 as Cia402State::kSwitchedOn
  3068. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  3069. CIA402: Setting control_word of 3 to: Cia402Controlword::kEnableOperation
  3070. APPDRV: Writing controlword as 15
  3071. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  3072. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  3073. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  3074. APPDRV: Writing controlword as 6
  3075. CIA402: Read statusword of joint 0 as Cia402State::kSwitchedOn
  3076. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  3077. CIA402: Setting control_word of 0 to: Cia402Controlword::kEnableOperation
  3078. APPDRV: Writing controlword as 15
  3079. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  3080. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  3081. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  3082. APPDRV: Writing controlword as 6
  3083. CIA402: Read statusword of joint 1 as Cia402State::kReadyToSwitchOn
  3084. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  3085. CIA402: Setting control_word of 1 to: Cia402Controlword::kDisableOperation
  3086. APPDRV: Writing controlword as 7
  3087. CIA402: Read statusword of joint 3 as Cia402State::kOperationEnabled
  3088. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  3089. CIA402: Setting control_word of 3 to: Cia402Controlword::kQuickStop
  3090. APPDRV: Writing controlword as 2
  3091. SYNAPT: Joint 3
  3092. SYNAPT: inPositionControlMode 1
  3093. SYNAPT: inOperationEnabledState 1
  3094. JOINT: Setting target position of joint 3 to 497.
  3095. APPDRV: Writing target_position as 241
  3096. SYNAPT: Setting joint 3 target to 497.
  3097. SYNAPT: Confirm: target to 497.
  3098. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  3099. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  3100. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  3101. APPDRV: Writing controlword as 6
  3102. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  3103. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  3104. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  3105. APPDRV: Writing controlword as 6
  3106. CIA402: Read statusword of joint 0 as Cia402State::kOperationEnabled
  3107. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  3108. CIA402: Setting control_word of 0 to: Cia402Controlword::kQuickStop
  3109. APPDRV: Writing controlword as 2
  3110. SYNAPT: Joint 0
  3111. SYNAPT: inPositionControlMode 1
  3112. SYNAPT: inOperationEnabledState 1
  3113. JOINT: Setting target position of joint 0 to 1726.
  3114. APPDRV: Writing target_position as 190
  3115. SYNAPT: Setting joint 0 target to 1726.
  3116. SYNAPT: Confirm: target to 1726.
  3117. CIA402: Read statusword of joint 4 as Cia402State::kReadyToSwitchOn
  3118. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  3119. CIA402: Setting control_word of 4 to: Cia402Controlword::kDisableOperation
  3120. APPDRV: Writing controlword as 7
  3121. CIA402: Read statusword of joint 1 as Cia402State::kSwitchedOn
  3122. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  3123. CIA402: Setting control_word of 1 to: Cia402Controlword::kEnableOperation
  3124. APPDRV: Writing controlword as 15
  3125. CIA402: Read statusword of joint 3 as Cia402State::kQuickStopActive
  3126. CIA402: Read statusword of joint 2 as Cia402State::kReadyToSwitchOn
  3127. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  3128. CIA402: Setting control_word of 2 to: Cia402Controlword::kDisableOperation
  3129. APPDRV: Writing controlword as 7
  3130. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  3131. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  3132. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  3133. APPDRV: Writing controlword as 6
  3134. CIA402: Read statusword of joint 4 as Cia402State::kSwitchedOn
  3135. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  3136. CIA402: Setting control_word of 4 to: Cia402Controlword::kEnableOperation
  3137. APPDRV: Writing controlword as 15
  3138. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  3139. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  3140. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  3141. APPDRV: Writing controlword as 6
  3142. CIA402: Read statusword of joint 1 as Cia402State::kOperationEnabled
  3143. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  3144. CIA402: Setting control_word of 1 to: Cia402Controlword::kQuickStop
  3145. APPDRV: Writing controlword as 2
  3146. SYNAPT: Joint 1
  3147. SYNAPT: inPositionControlMode 1
  3148. SYNAPT: inOperationEnabledState 1
  3149. JOINT: Setting target position of joint 1 to 2575.
  3150. APPDRV: Writing target_position as 15
  3151. SYNAPT: Setting joint 1 target to 2575.
  3152. SYNAPT: Confirm: target to 2575.
  3153. CIA402: Read statusword of joint 2 as Cia402State::kSwitchedOn
  3154. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  3155. CIA402: Setting control_word of 2 to: Cia402Controlword::kEnableOperation
  3156. APPDRV: Writing controlword as 15
  3157. CIA402: Read statusword of joint 4 as Cia402State::kOperationEnabled
  3158. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  3159. CIA402: Setting control_word of 4 to: Cia402Controlword::kQuickStop
  3160. APPDRV: Writing controlword as 2
  3161. SYNAPT: Joint 4
  3162. SYNAPT: inPositionControlMode 1
  3163. SYNAPT: inOperationEnabledState 1
  3164. JOINT: Setting target position of joint 4 to -5651.
  3165. APPDRV: Writing target_position as 237
  3166. SYNAPT: Setting joint 4 target to -5651.
  3167. SYNAPT: Confirm: target to -5651.
  3168. CIA402: Read statusword of joint 3 as Cia402State::kReadyToSwitchOn
  3169. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  3170. CIA402: Setting control_word of 3 to: Cia402Controlword::kDisableOperation
  3171. APPDRV: Writing controlword as 7
  3172. CIA402: Read statusword of joint 0 as Cia402State::kReadyToSwitchOn
  3173. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  3174. CIA402: Setting control_word of 0 to: Cia402Controlword::kDisableOperation
  3175. APPDRV: Writing controlword as 7
  3176. CIA402: Read statusword of joint 2 as Cia402State::kOperationEnabled
  3177. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  3178. CIA402: Setting control_word of 2 to: Cia402Controlword::kQuickStop
  3179. APPDRV: Writing controlword as 2
  3180. SYNAPT: Joint 2
  3181. SYNAPT: inPositionControlMode 1
  3182. SYNAPT: inOperationEnabledState 1
  3183. JOINT: Setting target position of joint 2 to 6111.
  3184. APPDRV: Writing target_position as 223
  3185. SYNAPT: Setting joint 2 target to 6111.
  3186. SYNAPT: Confirm: target to 6111.
  3187. CIA402: Read statusword of joint 1 as Cia402State::kQuickStopActive
  3188. CIA402: Read statusword of joint 3 as Cia402State::kSwitchedOn
  3189. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  3190. CIA402: Setting control_word of 3 to: Cia402Controlword::kEnableOperation
  3191. APPDRV: Writing controlword as 15
  3192. CIA402: Read statusword of joint 0 as Cia402State::kSwitchedOn
  3193. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  3194. CIA402: Setting control_word of 0 to: Cia402Controlword::kEnableOperation
  3195. APPDRV: Writing controlword as 15
  3196. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  3197. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  3198. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  3199. APPDRV: Writing controlword as 6
  3200. CIA402: Read statusword of joint 2 as Cia402State::kQuickStopActive
  3201. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  3202. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  3203. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  3204. APPDRV: Writing controlword as 6
  3205. CIA402: Read statusword of joint 3 as Cia402State::kOperationEnabled
  3206. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  3207. CIA402: Setting control_word of 3 to: Cia402Controlword::kQuickStop
  3208. APPDRV: Writing controlword as 2
  3209. SYNAPT: Joint 3
  3210. SYNAPT: inPositionControlMode 1
  3211. SYNAPT: inOperationEnabledState 1
  3212. JOINT: Setting target position of joint 3 to 503.
  3213. APPDRV: Writing target_position as 247
  3214. SYNAPT: Setting joint 3 target to 503.
  3215. SYNAPT: Confirm: target to 503.
  3216. CIA402: Read statusword of joint 0 as Cia402State::kOperationEnabled
  3217. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  3218. CIA402: Setting control_word of 0 to: Cia402Controlword::kQuickStop
  3219. APPDRV: Writing controlword as 2
  3220. SYNAPT: Joint 0
  3221. SYNAPT: inPositionControlMode 1
  3222. SYNAPT: inOperationEnabledState 1
  3223. JOINT: Setting target position of joint 0 to 1727.
  3224. APPDRV: Writing target_position as 191
  3225. SYNAPT: Setting joint 0 target to 1727.
  3226. SYNAPT: Confirm: target to 1727.
  3227. CIA402: Read statusword of joint 1 as Cia402State::kSwitchOnDisabled
  3228. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  3229. CIA402: Setting control_word of 1 to: Cia402Controlword::kShutdown
  3230. APPDRV: Writing controlword as 6
  3231. CIA402: Read statusword of joint 4 as Cia402State::kReadyToSwitchOn
  3232. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  3233. CIA402: Setting control_word of 4 to: Cia402Controlword::kDisableOperation
  3234. APPDRV: Writing controlword as 7
  3235. CIA402: Read statusword of joint 2 as Cia402State::kReadyToSwitchOn
  3236. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  3237. CIA402: Setting control_word of 2 to: Cia402Controlword::kDisableOperation
  3238. APPDRV: Writing controlword as 7
  3239. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  3240. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  3241. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  3242. APPDRV: Writing controlword as 6
  3243. CIA402: Read statusword of joint 4 as Cia402State::kSwitchedOn
  3244. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  3245. CIA402: Setting control_word of 4 to: Cia402Controlword::kEnableOperation
  3246. APPDRV: Writing controlword as 15
  3247. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  3248. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  3249. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  3250. APPDRV: Writing controlword as 6
  3251. CIA402: Read statusword of joint 1 as Cia402State::kReadyToSwitchOn
  3252. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  3253. CIA402: Setting control_word of 1 to: Cia402Controlword::kDisableOperation
  3254. APPDRV: Writing controlword as 7
  3255. CIA402: Read statusword of joint 2 as Cia402State::kSwitchedOn
  3256. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  3257. CIA402: Setting control_word of 2 to: Cia402Controlword::kEnableOperation
  3258. APPDRV: Writing controlword as 15
  3259. CIA402: Read statusword of joint 4 as Cia402State::kOperationEnabled
  3260. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  3261. CIA402: Setting control_word of 4 to: Cia402Controlword::kQuickStop
  3262. APPDRV: Writing controlword as 2
  3263. SYNAPT: Joint 4
  3264. SYNAPT: inPositionControlMode 1
  3265. SYNAPT: inOperationEnabledState 1
  3266. JOINT: Setting target position of joint 4 to -5651.
  3267. APPDRV: Writing target_position as 237
  3268. SYNAPT: Setting joint 4 target to -5651.
  3269. SYNAPT: Confirm: target to -5651.
  3270. CIA402: Read statusword of joint 3 as Cia402State::kReadyToSwitchOn
  3271. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  3272. CIA402: Setting control_word of 3 to: Cia402Controlword::kDisableOperation
  3273. APPDRV: Writing controlword as 7
  3274. CIA402: Read statusword of joint 1 as Cia402State::kSwitchedOn
  3275. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  3276. CIA402: Setting control_word of 1 to: Cia402Controlword::kEnableOperation
  3277. APPDRV: Writing controlword as 15
  3278. CIA402: Read statusword of joint 0 as Cia402State::kReadyToSwitchOn
  3279. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  3280. CIA402: Setting control_word of 0 to: Cia402Controlword::kDisableOperation
  3281. APPDRV: Writing controlword as 7
  3282. CIA402: Read statusword of joint 2 as Cia402State::kOperationEnabled
  3283. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  3284. CIA402: Setting control_word of 2 to: Cia402Controlword::kQuickStop
  3285. APPDRV: Writing controlword as 2
  3286. SYNAPT: Joint 2
  3287. SYNAPT: inPositionControlMode 1
  3288. SYNAPT: inOperationEnabledState 1
  3289. JOINT: Setting target position of joint 2 to 6117.
  3290. APPDRV: Writing target_position as 229
  3291. SYNAPT: Setting joint 2 target to 6117.
  3292. SYNAPT: Confirm: target to 6117.
  3293. CIA402: Read statusword of joint 3 as Cia402State::kSwitchedOn
  3294. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  3295. CIA402: Setting control_word of 3 to: Cia402Controlword::kEnableOperation
  3296. APPDRV: Writing controlword as 15
  3297. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  3298. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  3299. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  3300. APPDRV: Writing controlword as 6
  3301. CIA402: Read statusword of joint 1 as Cia402State::kOperationEnabled
  3302. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  3303. CIA402: Setting control_word of 1 to: Cia402Controlword::kQuickStop
  3304. APPDRV: Writing controlword as 2
  3305. SYNAPT: Joint 1
  3306. SYNAPT: inPositionControlMode 1
  3307. SYNAPT: inOperationEnabledState 1
  3308. JOINT: Setting target position of joint 1 to 2578.
  3309. APPDRV: Writing target_position as 18
  3310. SYNAPT: Setting joint 1 target to 2578.
  3311. SYNAPT: Confirm: target to 2578.
  3312. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  3313. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  3314. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  3315. APPDRV: Writing controlword as 6
  3316. CIA402: Read statusword of joint 0 as Cia402State::kSwitchedOn
  3317. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  3318. CIA402: Setting control_word of 0 to: Cia402Controlword::kEnableOperation
  3319. APPDRV: Writing controlword as 15
  3320. CIA402: Read statusword of joint 3 as Cia402State::kOperationEnabled
  3321. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  3322. CIA402: Setting control_word of 3 to: Cia402Controlword::kQuickStop
  3323. APPDRV: Writing controlword as 2
  3324. SYNAPT: Joint 3
  3325. SYNAPT: inPositionControlMode 1
  3326. SYNAPT: inOperationEnabledState 1
  3327. JOINT: Setting target position of joint 3 to 499.
  3328. APPDRV: Writing target_position as 243
  3329. SYNAPT: Setting joint 3 target to 499.
  3330. SYNAPT: Confirm: target to 499.
  3331. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  3332. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  3333. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  3334. APPDRV: Writing controlword as 6
  3335. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  3336. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  3337. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  3338. APPDRV: Writing controlword as 6
  3339. CIA402: Read statusword of joint 4 as Cia402State::kReadyToSwitchOn
  3340. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  3341. CIA402: Setting control_word of 4 to: Cia402Controlword::kDisableOperation
  3342. APPDRV: Writing controlword as 7
  3343. CIA402: Read statusword of joint 0 as Cia402State::kOperationEnabled
  3344. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  3345. CIA402: Setting control_word of 0 to: Cia402Controlword::kQuickStop
  3346. APPDRV: Writing controlword as 2
  3347. SYNAPT: Joint 0
  3348. SYNAPT: inPositionControlMode 1
  3349. SYNAPT: inOperationEnabledState 1
  3350. JOINT: Setting target position of joint 0 to 1728.
  3351. APPDRV: Writing target_position as 192
  3352. SYNAPT: Setting joint 0 target to 1728.
  3353. SYNAPT: Confirm: target to 1728.
  3354. CIA402: Read statusword of joint 1 as Cia402State::kQuickStopActive
  3355. CIA402: Read statusword of joint 1 as Cia402State::kSwitchOnDisabled
  3356. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  3357. CIA402: Setting control_word of 1 to: Cia402Controlword::kShutdown
  3358. APPDRV: Writing controlword as 6
  3359. CIA402: Read statusword of joint 3 as Cia402State::kQuickStopActive
  3360. CIA402: Read statusword of joint 2 as Cia402State::kReadyToSwitchOn
  3361. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  3362. CIA402: Setting control_word of 2 to: Cia402Controlword::kDisableOperation
  3363. APPDRV: Writing controlword as 7
  3364. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  3365. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  3366. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  3367. APPDRV: Writing controlword as 6
  3368. CIA402: Read statusword of joint 4 as Cia402State::kSwitchedOn
  3369. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  3370. CIA402: Setting control_word of 4 to: Cia402Controlword::kEnableOperation
  3371. APPDRV: Writing controlword as 15
  3372. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  3373. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  3374. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  3375. APPDRV: Writing controlword as 6
  3376. CIA402: Read statusword of joint 1 as Cia402State::kReadyToSwitchOn
  3377. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  3378. CIA402: Setting control_word of 1 to: Cia402Controlword::kDisableOperation
  3379. APPDRV: Writing controlword as 7
  3380. CIA402: Read statusword of joint 2 as Cia402State::kSwitchedOn
  3381. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  3382. CIA402: Setting control_word of 2 to: Cia402Controlword::kEnableOperation
  3383. APPDRV: Writing controlword as 15
  3384. CIA402: Read statusword of joint 4 as Cia402State::kOperationEnabled
  3385. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  3386. CIA402: Setting control_word of 4 to: Cia402Controlword::kQuickStop
  3387. APPDRV: Writing controlword as 2
  3388. SYNAPT: Joint 4
  3389. SYNAPT: inPositionControlMode 1
  3390. SYNAPT: inOperationEnabledState 1
  3391. JOINT: Setting target position of joint 4 to -5652.
  3392. APPDRV: Writing target_position as 236
  3393. SYNAPT: Setting joint 4 target to -5652.
  3394. SYNAPT: Confirm: target to -5652.
  3395. CIA402: Read statusword of joint 1 as Cia402State::kSwitchedOn
  3396. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  3397. CIA402: Setting control_word of 1 to: Cia402Controlword::kEnableOperation
  3398. APPDRV: Writing controlword as 15
  3399. CIA402: Read statusword of joint 3 as Cia402State::kReadyToSwitchOn
  3400. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  3401. CIA402: Setting control_word of 3 to: Cia402Controlword::kDisableOperation
  3402. APPDRV: Writing controlword as 7
  3403. CIA402: Read statusword of joint 0 as Cia402State::kReadyToSwitchOn
  3404. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  3405. CIA402: Setting control_word of 0 to: Cia402Controlword::kDisableOperation
  3406. APPDRV: Writing controlword as 7
  3407. CIA402: Read statusword of joint 2 as Cia402State::kOperationEnabled
  3408. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  3409. CIA402: Setting control_word of 2 to: Cia402Controlword::kQuickStop
  3410. APPDRV: Writing controlword as 2
  3411. SYNAPT: Joint 2
  3412. SYNAPT: inPositionControlMode 1
  3413. SYNAPT: inOperationEnabledState 1
  3414. JOINT: Setting target position of joint 2 to 6114.
  3415. APPDRV: Writing target_position as 226
  3416. SYNAPT: Setting joint 2 target to 6114.
  3417. SYNAPT: Confirm: target to 6114.
  3418. CIA402: Read statusword of joint 1 as Cia402State::kOperationEnabled
  3419. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  3420. CIA402: Setting control_word of 1 to: Cia402Controlword::kQuickStop
  3421. APPDRV: Writing controlword as 2
  3422. SYNAPT: Joint 1
  3423. SYNAPT: inPositionControlMode 1
  3424. SYNAPT: inOperationEnabledState 1
  3425. JOINT: Setting target position of joint 1 to 2578.
  3426. APPDRV: Writing target_position as 18
  3427. SYNAPT: Setting joint 1 target to 2578.
  3428. SYNAPT: Confirm: target to 2578.
  3429. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  3430. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  3431. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  3432. APPDRV: Writing controlword as 6
  3433. CIA402: Read statusword of joint 3 as Cia402State::kSwitchedOn
  3434. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  3435. CIA402: Setting control_word of 3 to: Cia402Controlword::kEnableOperation
  3436. APPDRV: Writing controlword as 15
  3437. CIA402: Read statusword of joint 0 as Cia402State::kSwitchedOn
  3438. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  3439. CIA402: Setting control_word of 0 to: Cia402Controlword::kEnableOperation
  3440. APPDRV: Writing controlword as 15
  3441. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  3442. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  3443. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  3444. APPDRV: Writing controlword as 6
  3445. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  3446. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  3447. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  3448. APPDRV: Writing controlword as 6
  3449. CIA402: Read statusword of joint 1 as Cia402State::kQuickStopActive
  3450. CIA402: Read statusword of joint 3 as Cia402State::kOperationEnabled
  3451. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  3452. CIA402: Setting control_word of 3 to: Cia402Controlword::kQuickStop
  3453. APPDRV: Writing controlword as 2
  3454. SYNAPT: Joint 3
  3455. SYNAPT: inPositionControlMode 1
  3456. SYNAPT: inOperationEnabledState 1
  3457. JOINT: Setting target position of joint 3 to 498.
  3458. APPDRV: Writing target_position as 242
  3459. SYNAPT: Setting joint 3 target to 498.
  3460. SYNAPT: Confirm: target to 498.
  3461. CIA402: Read statusword of joint 4 as Cia402State::kReadyToSwitchOn
  3462. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  3463. CIA402: Setting control_word of 4 to: Cia402Controlword::kDisableOperation
  3464. APPDRV: Writing controlword as 7
  3465. CIA402: Read statusword of joint 0 as Cia402State::kOperationEnabled
  3466. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  3467. CIA402: Setting control_word of 0 to: Cia402Controlword::kQuickStop
  3468. APPDRV: Writing controlword as 2
  3469. SYNAPT: Joint 0
  3470. SYNAPT: inPositionControlMode 1
  3471. SYNAPT: inOperationEnabledState 1
  3472. JOINT: Setting target position of joint 0 to 1728.
  3473. APPDRV: Writing target_position as 192
  3474. SYNAPT: Setting joint 0 target to 1728.
  3475. SYNAPT: Confirm: target to 1728.
  3476. CIA402: Read statusword of joint 1 as Cia402State::kSwitchOnDisabled
  3477. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  3478. CIA402: Setting control_word of 1 to: Cia402Controlword::kShutdown
  3479. APPDRV: Writing controlword as 6
  3480. CIA402: Read statusword of joint 2 as Cia402State::kReadyToSwitchOn
  3481. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  3482. CIA402: Setting control_word of 2 to: Cia402Controlword::kDisableOperation
  3483. APPDRV: Writing controlword as 7
  3484. CIA402: Read statusword of joint 4 as Cia402State::kSwitchedOn
  3485. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  3486. CIA402: Setting control_word of 4 to: Cia402Controlword::kEnableOperation
  3487. APPDRV: Writing controlword as 15
  3488. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  3489. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  3490. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  3491. APPDRV: Writing controlword as 6
  3492. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  3493. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  3494. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  3495. APPDRV: Writing controlword as 6
  3496. CIA402: Read statusword of joint 2 as Cia402State::kSwitchedOn
  3497. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  3498. CIA402: Setting control_word of 2 to: Cia402Controlword::kEnableOperation
  3499. APPDRV: Writing controlword as 15
  3500. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  3501. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  3502. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  3503. APPDRV: Writing controlword as 6
  3504. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  3505. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  3506. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  3507. APPDRV: Writing controlword as 6
  3508. CIA402: Read statusword of joint 1 as Cia402State::kReadyToSwitchOn
  3509. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  3510. CIA402: Setting control_word of 1 to: Cia402Controlword::kDisableOperation
  3511. APPDRV: Writing controlword as 7
  3512. CIA402: Read statusword of joint 4 as Cia402State::kOperationEnabled
  3513. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  3514. CIA402: Setting control_word of 4 to: Cia402Controlword::kQuickStop
  3515. APPDRV: Writing controlword as 2
  3516. SYNAPT: Joint 4
  3517. SYNAPT: inPositionControlMode 1
  3518. SYNAPT: inOperationEnabledState 1
  3519. JOINT: Setting target position of joint 4 to -5650.
  3520. APPDRV: Writing target_position as 238
  3521. SYNAPT: Setting joint 4 target to -5650.
  3522. SYNAPT: Confirm: target to -5650.
  3523. CIA402: Read statusword of joint 2 as Cia402State::kOperationEnabled
  3524. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  3525. CIA402: Setting control_word of 2 to: Cia402Controlword::kQuickStop
  3526. APPDRV: Writing controlword as 2
  3527. SYNAPT: Joint 2
  3528. SYNAPT: inPositionControlMode 1
  3529. SYNAPT: inOperationEnabledState 1
  3530. JOINT: Setting target position of joint 2 to 6114.
  3531. APPDRV: Writing target_position as 226
  3532. SYNAPT: Setting joint 2 target to 6114.
  3533. SYNAPT: Confirm: target to 6114.
  3534. CIA402: Read statusword of joint 3 as Cia402State::kReadyToSwitchOn
  3535. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  3536. CIA402: Setting control_word of 3 to: Cia402Controlword::kDisableOperation
  3537. APPDRV: Writing controlword as 7
  3538. CIA402: Read statusword of joint 1 as Cia402State::kSwitchedOn
  3539. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  3540. CIA402: Setting control_word of 1 to: Cia402Controlword::kEnableOperation
  3541. APPDRV: Writing controlword as 15
  3542. CIA402: Read statusword of joint 0 as Cia402State::kReadyToSwitchOn
  3543. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  3544. CIA402: Setting control_word of 0 to: Cia402Controlword::kDisableOperation
  3545. APPDRV: Writing controlword as 7
  3546. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  3547. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  3548. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  3549. APPDRV: Writing controlword as 6
  3550. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  3551. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  3552. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  3553. APPDRV: Writing controlword as 6
  3554. CIA402: Read statusword of joint 3 as Cia402State::kSwitchedOn
  3555. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  3556. CIA402: Setting control_word of 3 to: Cia402Controlword::kEnableOperation
  3557. APPDRV: Writing controlword as 15
  3558. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  3559. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  3560. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  3561. APPDRV: Writing controlword as 6
  3562. CIA402: Read statusword of joint 1 as Cia402State::kOperationEnabled
  3563. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  3564. CIA402: Setting control_word of 1 to: Cia402Controlword::kQuickStop
  3565. APPDRV: Writing controlword as 2
  3566. SYNAPT: Joint 1
  3567. SYNAPT: inPositionControlMode 1
  3568. SYNAPT: inOperationEnabledState 1
  3569. JOINT: Setting target position of joint 1 to 2593.
  3570. APPDRV: Writing target_position as 33
  3571. SYNAPT: Setting joint 1 target to 2593.
  3572. SYNAPT: Confirm: target to 2593.
  3573. CIA402: Read statusword of joint 2 as Cia402State::kSwitchOnDisabled
  3574. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  3575. CIA402: Setting control_word of 2 to: Cia402Controlword::kShutdown
  3576. APPDRV: Writing controlword as 6
  3577. CIA402: Read statusword of joint 0 as Cia402State::kSwitchedOn
  3578. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  3579. CIA402: Setting control_word of 0 to: Cia402Controlword::kEnableOperation
  3580. APPDRV: Writing controlword as 15
  3581. CIA402: Read statusword of joint 3 as Cia402State::kOperationEnabled
  3582. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  3583. CIA402: Setting control_word of 3 to: Cia402Controlword::kQuickStop
  3584. APPDRV: Writing controlword as 2
  3585. SYNAPT: Joint 3
  3586. SYNAPT: inPositionControlMode 1
  3587. SYNAPT: inOperationEnabledState 1
  3588. JOINT: Setting target position of joint 3 to 497.
  3589. APPDRV: Writing target_position as 241
  3590. SYNAPT: Setting joint 3 target to 497.
  3591. SYNAPT: Confirm: target to 497.
  3592. CIA402: Read statusword of joint 4 as Cia402State::kReadyToSwitchOn
  3593. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  3594. CIA402: Setting control_word of 4 to: Cia402Controlword::kDisableOperation
  3595. APPDRV: Writing controlword as 7
  3596. CIA402: Read statusword of joint 2 as Cia402State::kReadyToSwitchOn
  3597. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  3598. CIA402: Setting control_word of 2 to: Cia402Controlword::kDisableOperation
  3599. APPDRV: Writing controlword as 7
  3600. CIA402: Read statusword of joint 0 as Cia402State::kOperationEnabled
  3601. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  3602. CIA402: Setting control_word of 0 to: Cia402Controlword::kQuickStop
  3603. APPDRV: Writing controlword as 2
  3604. SYNAPT: Joint 0
  3605. SYNAPT: inPositionControlMode 1
  3606. SYNAPT: inOperationEnabledState 1
  3607. JOINT: Setting target position of joint 0 to 1726.
  3608. APPDRV: Writing target_position as 190
  3609. SYNAPT: Setting joint 0 target to 1726.
  3610. SYNAPT: Confirm: target to 1726.
  3611. CIA402: Read statusword of joint 1 as Cia402State::kSwitchOnDisabled
  3612. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  3613. CIA402: Setting control_word of 1 to: Cia402Controlword::kShutdown
  3614. APPDRV: Writing controlword as 6
  3615. CIA402: Read statusword of joint 4 as Cia402State::kSwitchedOn
  3616. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  3617. CIA402: Setting control_word of 4 to: Cia402Controlword::kEnableOperation
  3618. APPDRV: Writing controlword as 15
  3619. CIA402: Read statusword of joint 1 as Cia402State::kSwitchOnDisabled
  3620. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  3621. CIA402: Setting control_word of 1 to: Cia402Controlword::kShutdown
  3622. APPDRV: Writing controlword as 6
  3623. CIA402: Read statusword of joint 2 as Cia402State::kSwitchedOn
  3624. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  3625. CIA402: Setting control_word of 2 to: Cia402Controlword::kEnableOperation
  3626. APPDRV: Writing controlword as 15
  3627. CIA402: Read statusword of joint 3 as Cia402State::kSwitchOnDisabled
  3628. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  3629. CIA402: Setting control_word of 3 to: Cia402Controlword::kShutdown
  3630. APPDRV: Writing controlword as 6
  3631. CIA402: Read statusword of joint 4 as Cia402State::kOperationEnabled
  3632. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  3633. CIA402: Setting control_word of 4 to: Cia402Controlword::kQuickStop
  3634. APPDRV: Writing controlword as 2
  3635. SYNAPT: Joint 4
  3636. SYNAPT: inPositionControlMode 1
  3637. SYNAPT: inOperationEnabledState 1
  3638. JOINT: Setting target position of joint 4 to -5651.
  3639. APPDRV: Writing target_position as 237
  3640. SYNAPT: Setting joint 4 target to -5651.
  3641. SYNAPT: Confirm: target to -5651.
  3642. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  3643. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  3644. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  3645. APPDRV: Writing controlword as 6
  3646. CIA402: Read statusword of joint 1 as Cia402State::kReadyToSwitchOn
  3647. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  3648. CIA402: Setting control_word of 1 to: Cia402Controlword::kDisableOperation
  3649. APPDRV: Writing controlword as 7
  3650. CIA402: Read statusword of joint 0 as Cia402State::kSwitchOnDisabled
  3651. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  3652. CIA402: Setting control_word of 0 to: Cia402Controlword::kShutdown
  3653. APPDRV: Writing controlword as 6
  3654. CIA402: Read statusword of joint 2 as Cia402State::kOperationEnabled
  3655. CIA402: Target state of 2 is: Cia402State::kQuickStopActive
  3656. CIA402: Setting control_word of 2 to: Cia402Controlword::kQuickStop
  3657. APPDRV: Writing controlword as 2
  3658. SYNAPT: Joint 2
  3659. SYNAPT: inPositionControlMode 1
  3660. SYNAPT: inOperationEnabledState 1
  3661. JOINT: Setting target position of joint 2 to 6117.
  3662. APPDRV: Writing target_position as 229
  3663. SYNAPT: Setting joint 2 target to 6117.
  3664. SYNAPT: Confirm: target to 6117.
  3665. CIA402: Read statusword of joint 3 as Cia402State::kReadyToSwitchOn
  3666. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  3667. CIA402: Setting control_word of 3 to: Cia402Controlword::kDisableOperation
  3668. APPDRV: Writing controlword as 7
  3669. CIA402: Read statusword of joint 1 as Cia402State::kSwitchedOn
  3670. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  3671. CIA402: Setting control_word of 1 to: Cia402Controlword::kEnableOperation
  3672. APPDRV: Writing controlword as 15
  3673. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  3674. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  3675. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  3676. APPDRV: Writing controlword as 6
  3677. CIA402: Read statusword of joint 0 as Cia402State::kReadyToSwitchOn
  3678. CIA402: Target state of 0 is: Cia402State::kQuickStopActive
  3679. CIA402: Setting control_word of 0 to: Cia402Controlword::kDisableOperation
  3680. APPDRV: Writing controlword as 7
  3681. CIA402: Read statusword of joint 4 as Cia402State::kSwitchOnDisabled
  3682. CIA402: Target state of 4 is: Cia402State::kQuickStopActive
  3683. CIA402: Setting control_word of 4 to: Cia402Controlword::kShutdown
  3684. APPDRV: Writing controlword as 6
  3685. CIA402: Read statusword of joint 3 as Cia402State::kSwitchedOn
  3686. CIA402: Target state of 3 is: Cia402State::kQuickStopActive
  3687. CIA402: Setting control_word of 3 to: Cia402Controlword::kEnableOperation
  3688. APPDRV: Writing controlword as 15
  3689. CIA402: Read statusword of joint 1 as Cia402State::kOperationEnabled
  3690. CIA402: Target state of 1 is: Cia402State::kQuickStopActive
  3691. CIA402: Setting control_word of 1 to: Cia402Controlword::kQuickStop
  3692. APPDRV: Writing controlword as 2
  3693. SYNAPT: Joint 1
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