13:40:10.205 [MainFlowCtrlScheduler] WARN  a.a.s.l.TubeFeedingExCtrlService - [scanClampModRelease,84] - DISABLE SCAN CLAMPING SERVO
13:40:10.340 [MainFlowCtrlScheduler] ERROR a.a.h.c.A8kCanBusService - [waitForMod,124] - ShakeModLiftingSV waitting for action mini_servo_move_to , catch error  LOW_ERROR_SUBDEVICE_OVERTIME, defail ecode 0
13:40:10.353 [MainFlowCtrlScheduler] ERROR a.a.s.m.m.a.AC30ScanTubeHolderTask - [doAction,243] - error {"code":"LOW_ERROR_SUBDEVICE_OVERTIME","type":"AEHardwareError","exmsg":null,"mid":"ShakeModLiftingSV","cmdId":"mini_servo_move_to","rawtxcmd":null,"rawrxcmd":null}
a8k.app.type.exception.AppException: {"code":"LOW_ERROR_SUBDEVICE_OVERTIME","type":"AEHardwareError","exmsg":null,"mid":"ShakeModLiftingSV","cmdId":"mini_servo_move_to","rawtxcmd":null,"rawrxcmd":null}
        at a8k.app.type.exception.AppException.of(AppException.java:49)
        at a8k.app.hardware.channel.A8kCanBusService.waitForMod(A8kCanBusService.java:125)
        at a8k.app.hardware.driver.MiniServoDriver.miniServoMoveToBlock(MiniServoDriver.java:90)
        at a8k.app.hardware.driver.MiniServoDriver.miniServoMoveToZeroBlock(MiniServoDriver.java:57)
        at a8k.app.service.lowerctrl.TubeFeedingExCtrlService.moveTubeRackTo(TubeFeedingExCtrlService.java:53)
        at a8k.app.service.lowerctrl.TubeFeedingCtrlService.moveAndjudgeTubeExist(TubeFeedingCtrlService.java:227)
        at a8k.app.service.lowerctrl.TubeFeedingCtrlService.scanTubeHodler(TubeFeedingCtrlService.java:254)
        at a8k.app.service.lowerctrl.TubeFeedingCtrlService.enterAndScanTubeHodler(TubeFeedingCtrlService.java:296)
        at a8k.app.service.mainctrl.mainflowctrl.action.AC30ScanTubeHolderTask.doScanHolder(AC30ScanTubeHolderTask.java:184)
        at a8k.app.service.mainctrl.mainflowctrl.action.AC30ScanTubeHolderTask.priDoAction(AC30ScanTubeHolderTask.java:206)
        at a8k.app.service.mainctrl.mainflowctrl.action.AC30ScanTubeHolderTask.doAction(AC30ScanTubeHolderTask.java:241)
        at a8k.app.service.mainctrl.mainflowctrl.MainFlowCtrlScheduler.tryDoAction(MainFlowCtrlScheduler.java:176)
        at a8k.app.service.mainctrl.mainflowctrl.MainFlowCtrlScheduler.onWorking(MainFlowCtrlScheduler.java:190)
        at a8k.app.service.mainctrl.mainflowctrl.MainFlowCtrlScheduler.workFn(MainFlowCtrlScheduler.java:294)
        at java.base/java.lang.Thread.run(Thread.java:1583)
13:40:10.359 [MainFlowCtrlScheduler] INFO  a.a.s.b.AppEventBusService