DEFAULT_IP = DEFAULT_IP_ADDRESS.usb_windows
HARDWARE_MIN_HOMING_FEEDRATE = 500
HARDWARE_MAX_HOMING_FEEDRATE = 8000
MIN_MOTOR_CURRENT = 1.5
MAX_MOTOR_CURRENT = 10.0
ELECTRIC_CYLINDER_MAX_MOTOR_CURRENT = 1.68
DEFAULT_TIMEOUT = 65

• desc Starts an axis using speed mode.
  • params
    • axis
      • desc Axis to move
      • type Number of AXIS_NUMBER class
    • speed
      • desc Optional. Speed to move the axis at in mm/s. If no speed is specified, the axis will move at the configured axis max speed in the positive axis direction.
      • type Number, positive or negative
    • accel
      • desc Optional. Acceleration used to reach the desired speed, in mm/s^2. If no acceleration is specified, the axis will move at the configured axis max acceleration
      • type Positive number
    • direction
      • desc Optional. Overrides sign of speed. Determines the direction of the continuous move. If no direction is given, the actuator will move according to the direction of speed.
      • type String of the DIRECTION class.
  • compatibility MachineMotion v1 and MachineMotion v2. On software versions older than v2.4.0, speed and acceleration arguments are mandatory.

Example: moveContinuous.py

#!/usr/bin/python
import sys, time
sys.path.append("../..")
from MachineMotion import *

### This Python example showcases continuous moves with MachineMotion v2. ###

# Create MachineMotion instance
mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Configure actuator
conveyor_axis = 1
mm.configServo(conveyor_axis, MECH_GAIN.roller_conveyor_mm_turn, DIRECTION.NORMAL, 10.0, motorSize=MOTOR_SIZE.LARGE)

# Note: on MachineMotion software version 2.4.0 and newer, continuous moves are limited by the axis max speed and acceleration.
# Please see the section below for more details.

### CONTINUOUS MOVES ###
# Start the continuous move
print("Start Conveyor Move...")
print("Continuous move: speed 100mm/s & acceleration 100mm/s^2")
mm.moveContinuous(conveyor_axis, 100, 100)
time.sleep(5)

# Change speed while moving 
print("Continuous move: speed 500mm/s & acceleration 250mm/s^2")
mm.moveContinuous(conveyor_axis, 500, 250)
time.sleep(5)

# Reverse direction of conveyor by changing the sign of the speed
print("Reverse continuous move: speed -1000mm/s & acceleration 500mm/s^2")
mm.moveContinuous(conveyor_axis, -1000, 500)
time.sleep(5)

# Or pass in the optional direction argument
print("Reverse continuous move: speed -500mm/s & acceleration 500mm/s^2")
mm.moveContinuous(conveyor_axis, 500, 500, direction=DIRECTION.NEGATIVE)
time.sleep(5)

# Stop the continuous move
print("Stop Conveyor Move: acceleration 500mm/s^2")
mm.stopMoveContinuous(conveyor_axis, 500)
time.sleep(3)

# # For MachineMotion Software version >= 2.4.0 only:

# # Setting the axis max speed and acceleration will limit continuous moves:
# mm.setAxisMaxSpeed(conveyor_axis, 1000)
# mm.setAxisMaxAcceleration(conveyor_axis, 1000)

# # Start the continuous move at max speed and acceleration
# mm.moveContinuous(conveyor_axis)
# time.sleep(5)

# # Slow down conveyor
# mm.setAxisMaxSpeed(conveyor_axis, 500)
# time.sleep(5)

# # Reverse direction of conveyor
# mm.moveContinuous(conveyor_axis, direction=DIRECTION.NEGATIVE)
# time.sleep(5)

# # Stop the continuous move
# mm.stopMoveContinuous(conveyor_axis)
# time.sleep(5)

print("--> Example completed")

• desc Stops an axis using speed mode.
  • params
    • axis
      • desc Axis to move
      • type Number of the AXIS_NUMBER class
    • accel
      • desc Optional. Acceleration used to reach a null speed, in mm/s2. If no accel is specified, the axis will decelerate at the configured max axis acceleration.
      • type Positive number
  • compatibility MachineMotion v1 and MachineMotion v2. On software versions older than v2.4.0, accel argument is mandatory.

Example: moveContinuous.py

#!/usr/bin/python
import sys, time
sys.path.append("../..")
from MachineMotion import *

### This Python example showcases continuous moves with MachineMotion v2. ###

# Create MachineMotion instance
mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Configure actuator
conveyor_axis = 1
mm.configServo(conveyor_axis, MECH_GAIN.roller_conveyor_mm_turn, DIRECTION.NORMAL, 10.0, motorSize=MOTOR_SIZE.LARGE)

# Note: on MachineMotion software version 2.4.0 and newer, continuous moves are limited by the axis max speed and acceleration.
# Please see the section below for more details.

### CONTINUOUS MOVES ###
# Start the continuous move
print("Start Conveyor Move...")
print("Continuous move: speed 100mm/s & acceleration 100mm/s^2")
mm.moveContinuous(conveyor_axis, 100, 100)
time.sleep(5)

# Change speed while moving 
print("Continuous move: speed 500mm/s & acceleration 250mm/s^2")
mm.moveContinuous(conveyor_axis, 500, 250)
time.sleep(5)

# Reverse direction of conveyor by changing the sign of the speed
print("Reverse continuous move: speed -1000mm/s & acceleration 500mm/s^2")
mm.moveContinuous(conveyor_axis, -1000, 500)
time.sleep(5)

# Or pass in the optional direction argument
print("Reverse continuous move: speed -500mm/s & acceleration 500mm/s^2")
mm.moveContinuous(conveyor_axis, 500, 500, direction=DIRECTION.NEGATIVE)
time.sleep(5)

# Stop the continuous move
print("Stop Conveyor Move: acceleration 500mm/s^2")
mm.stopMoveContinuous(conveyor_axis, 500)
time.sleep(3)

# # For MachineMotion Software version >= 2.4.0 only:

# # Setting the axis max speed and acceleration will limit continuous moves:
# mm.setAxisMaxSpeed(conveyor_axis, 1000)
# mm.setAxisMaxAcceleration(conveyor_axis, 1000)

# # Start the continuous move at max speed and acceleration
# mm.moveContinuous(conveyor_axis)
# time.sleep(5)

# # Slow down conveyor
# mm.setAxisMaxSpeed(conveyor_axis, 500)
# time.sleep(5)

# # Reverse direction of conveyor
# mm.moveContinuous(conveyor_axis, direction=DIRECTION.NEGATIVE)
# time.sleep(5)

# # Stop the continuous move
# mm.stopMoveContinuous(conveyor_axis)
# time.sleep(5)

print("--> Example completed")

• desc Returns the desired position of the axes.
  • params
    • axis (optional)
      • desc The axis to get the desired position of.
      • type Number
  • returnValue The position of the axis if that parameter was specified, or a dictionary containing the desired position of every axis.
  • returnValueType Number or Dictionary of numbers
  • note This function returns the ‘open loop’ position of each axis.
  • compatibility Recommended for MachineMotion v1.

Example: getPositions.py

import sys, time
sys.path.append("../..")
from MachineMotion import *

### This Python example showcases how to read actuator positions with MachineMotion v2. ###

###### CONFIGURING MACHINEMOTION ######

mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Configure actuator
axis = 1
print("--> Configuring actuator")
mm.configServo(axis, MECH_GAIN.rack_pinion_mm_turn, DIRECTION.POSITIVE, 10.0, motorSize=MOTOR_SIZE.LARGE)

# Home Axis Before Moving
print("--> Axis " + str(axis) + " moving home")
mm.moveToHome(axis)
mm.waitForMotionCompletion()
print("--> Axis " + str(axis) + " homed")


###### READ POSITIONS ######

# Read the position of one axis
print("--> Read the position of one axis")
actualPosition_axis  = mm.getActualPositions(axis)
print("Actual position of axis " + str(axis) + " is : " + str(actualPosition_axis) + " mm.")

# Read the position of several axes
print("--> Read the position of several axes")
actualPositions  = mm.getActualPositions()
print("Actual position of axis 1 is : " + str(actualPositions[1]) + " mm.")
print("Actual position of axis 2 is : " + str(actualPositions[2]) + " mm.")
print("Actual position of axis 3 is : " + str(actualPositions[3]) + " mm.")
print("Actual position of axis 4 is : " + str(actualPositions[4]) + " mm.")

###### MOVE AND READ POSITIONS ######

# Define Motion Parameters
distance = 100

# Move 100mm and check position again
mm.moveRelative(axis, distance)
print("--> Move ongoing")
while not mm.isMotionCompleted():
    actualPosition_axis  = mm.getActualPositions(axis)
    print("Actual position of axis " + str(axis) + " is : " + str(actualPosition_axis) + " mm.")

mm.waitForMotionCompletion()
print("--> Move completed")
actualPosition_axis  = mm.getActualPositions(axis)
print("Actual position of axis " + str(axis) + " is : " + str(actualPosition_axis) + " mm.")

print("--> End of example")

• desc Returns the current position of the axes.
  • params
    • axis (optional)
      • desc The axis to get the current position of.
      • type Number
  • returnValue The position of the axis if that parameter was specified, or a dictionary containing the current position of every axis, in mm.
  • returnValueType Number or Dictionary of numbers
  • compatibility MachineMotion v1 and MachineMotion v2.

Example: getPositions.py

import sys, time
sys.path.append("../..")
from MachineMotion import *

### This Python example showcases how to read actuator positions with MachineMotion v2. ###

###### CONFIGURING MACHINEMOTION ######

mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Configure actuator
axis = 1
print("--> Configuring actuator")
mm.configServo(axis, MECH_GAIN.rack_pinion_mm_turn, DIRECTION.POSITIVE, 10.0, motorSize=MOTOR_SIZE.LARGE)

# Home Axis Before Moving
print("--> Axis " + str(axis) + " moving home")
mm.moveToHome(axis)
mm.waitForMotionCompletion()
print("--> Axis " + str(axis) + " homed")


###### READ POSITIONS ######

# Read the position of one axis
print("--> Read the position of one axis")
actualPosition_axis  = mm.getActualPositions(axis)
print("Actual position of axis " + str(axis) + " is : " + str(actualPosition_axis) + " mm.")

# Read the position of several axes
print("--> Read the position of several axes")
actualPositions  = mm.getActualPositions()
print("Actual position of axis 1 is : " + str(actualPositions[1]) + " mm.")
print("Actual position of axis 2 is : " + str(actualPositions[2]) + " mm.")
print("Actual position of axis 3 is : " + str(actualPositions[3]) + " mm.")
print("Actual position of axis 4 is : " + str(actualPositions[4]) + " mm.")

###### MOVE AND READ POSITIONS ######

# Define Motion Parameters
distance = 100

# Move 100mm and check position again
mm.moveRelative(axis, distance)
print("--> Move ongoing")
while not mm.isMotionCompleted():
    actualPosition_axis  = mm.getActualPositions(axis)
    print("Actual position of axis " + str(axis) + " is : " + str(actualPosition_axis) + " mm.")

mm.waitForMotionCompletion()
print("--> Move completed")
actualPosition_axis  = mm.getActualPositions(axis)
print("Actual position of axis " + str(axis) + " is : " + str(actualPosition_axis) + " mm.")

print("--> End of example")

• desc Returns the current state of all home and end sensors.
  • returnValue The states of all end stop sensors {x_min, x_max, y_min, y_max, z_min, z_max} “TRIGGERED” or “open”
  • returnValueType Dictionary
  • compatibility MachineMotion v1 and MachineMotion v2.

Example: getEndStopState.py

import sys
sys.path.append("../..")
from MachineMotion import *

### This Python example showcases how to read enstop sensor states with MachineMotion v2. ###

mm = MachineMotionV2()

# When starting a program, one must remove the software stop
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Get End Stop State
endstopStates = mm.getEndStopState()
# If the direction of the axis is normal, 
#   then the home sensor is the "_min" sensor, and the end sensor is the "_max" sensor.
# If the direction of the axis reversed, 
#   then the home sensor is the "_max" sensor, and the end sensor is the "_min" sensor.
axis1_home_sensor_status      = endstopStates['x_min']
axis1_endstop_sensor_status   = endstopStates['x_max']
axis2_home_sensor_status      = endstopStates['y_min']
axis2_endstop_sensor_status   = endstopStates['y_max']
axis3_home_sensor_status      = endstopStates['z_min']
axis3_endstop_sensor_status   = endstopStates['z_max']
axis4_home_sensor_status      = endstopStates['w_min']
axis4_endstop_sensor_status   = endstopStates['w_max']

print("Axis 1 : " + "Home sensor is : " + str(axis1_home_sensor_status) )
print("Axis 1 : " + "End sensor is : " + str(axis1_endstop_sensor_status) )
print("Axis 2 : " + "Home sensor is : " + str(axis2_home_sensor_status) )
print("Axis 2 : " + "End sensor is : " + str(axis2_endstop_sensor_status) )
print("Axis 3 : " + "Home sensor is : " + str(axis3_home_sensor_status) )
print("Axis 3 : " + "End sensor is : " + str(axis3_endstop_sensor_status) )
print("Axis 4 : " + "Home sensor is : " + str(axis4_home_sensor_status) )
print("Axis 4 : " + "End sensor is : " + str(axis4_endstop_sensor_status) )

• desc Immediately stops all motion of all axes.
  • note This function is a hard stop. It is not a controlled stop and consequently does not decelerate smoothly to a stop. Additionally, this function is not intended to serve as an emergency stop since this stop mechanism does not have safety ratings.
  • compatibility MachineMotion v1 and MachineMotion v2.

Example: stopAllMotion.py

import sys, time
sys.path.append("../..")
from MachineMotion import *

### This Python example showcases how to stop motion on MachineMotion v2. ###

mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Configure the actuator
axis = 1
mm.configServo(axis, MECH_GAIN.timing_belt_150mm_turn, DIRECTION.NORMAL, 10.0, motorSize=MOTOR_SIZE.LARGE)

# Begin Relative Move
distance = 1000
mm.moveRelative(axis, distance)
print("Axis " + str(axis) + " is moving " + str(distance) + "mm")
# This move should take 5 seconds to complete (distance/speed). Instead, we wait 2 seconds and then stop the machine.
time.sleep(2)
mm.stopAllMotion()
print("Axis " + str(axis) + " stopped.")

• desc Immediately stops motion on a set of axes.
  • params
    • *axes
      • desc Axis or axes to stop.
      • type Number or numbers separated by a comma, of the AXIS_NUMBER class
  • compatibility MachineMotion v2.

Example: moveIndependentAxis.py

#!/usr/bin/python
import time
from MachineMotion import *

### IMPORTANT: This example file is compatible with MachineMotion Software version 2.4.0 or newer. ###

### This Python example configures and moves an independent axis.
### The individual axis speed and acceleration are set, 
### then motion on the axis is selectively started, stopped and monitored

mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Configure the axis
axis = 1
mm.configServo(axis, MECH_GAIN.timing_belt_150mm_turn, DIRECTION.NORMAL, 10.0, motorSize=MOTOR_SIZE.LARGE)

# Move, stop and monitor the axis
axisSpeed = 50          # mm/s
axisAcceleration = 50   # mm/s^2
distance = 250          # mm

print(
    'Configuring axis: ', axis,
    ' speed: ', axisSpeed, 'mm/s',
    ' acceleration: ', axisAcceleration, 'mm/s^2'
)
mm.setAxisMaxSpeed(axis, axisSpeed)
mm.setAxisMaxAcceleration(axis, axisAcceleration)

print('Relative move: ', distance, 'mm')
mm.moveRelative(axis,distance)

axisMotionCompleted = mm.isMotionCompleted(axis)
if axisMotionCompleted :
    print ('Axis ', axis, ' is NOT currently moving.')
else :
    print ('Axis ', axis, ' is currently moving.')

time.sleep(3)

print('Stopping just axis: ', axis)
mm.stopAxis(axis)

time.sleep(3)

print('Moving and waiting for axis: ', axis)
mm.moveToPosition(axis,distance)
mm.waitForMotionCompletion(axis)

print('Done!')

• desc Initiates the homing sequence of all axes. All axes will move home simultaneously on MachineMotion v2, and sequentially on MachineMotion v1.
  • compatibility MachineMotion v1 and MachineMotion v2.

Example: moveToHomeAll.py

import sys
sys.path.append("../..")
from MachineMotion import *

### This Python example showcases how to home actuators with MachineMotion v2. ###

### MachineMotion configuration ###

mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

### Home all axes simultaneously
print ("All axes moving home simultaneously")
mm.moveToHomeAll()
mm.waitForMotionCompletion()
print("All axes homed")

• desc Initiates the homing sequence for the specified axis.
  • params
    • axis
      • desc The axis to be homed.
      • type Number
  • note If configAxisDirection is set to “normal” on axis 1, axis 1 will home itself towards sensor 1A. If configAxisDirection is set to “reverse” on axis 1, axis 1 will home itself towards sensor 1B.
  • compatibility MachineMotion v1 and MachineMotion v2.

Example: moveToHome.py

import sys
sys.path.append("../..")
from MachineMotion import *

### This Python example showcases how to home actuators with MachineMotion v2. ###

mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Configure the actuator
axis = AXIS_NUMBER.DRIVE1
mm.configServo(axis, MECH_GAIN.timing_belt_150mm_turn, DIRECTION.NORMAL, 10.0, motorSize=MOTOR_SIZE.LARGE)

# Home the actuator
print ("Axis "+ str(axis) +" is going home")
mm.moveToHome(axis)
mm.waitForMotionCompletion()
print("Axis "+ str(axis) +" is at home")

• desc Set maximum speed for a given axis.
  • params
    • axis
      • desc The target to set axis speed.
      • type Number of the AXIS_NUMBER class.
    • speed
      • desc The axis speed in mm/s.
      • type Number
  • compatibility MachineMotion v2.

Example: speedAndAcceleration.py

#!/usr/bin/python

from MachineMotion import *

### IMPORTANT: This example file is compatible with MachineMotion Software version 2.4.0 or newer. ###

### speedAndAcceleration.py
# This example shows how to change the configured max speed and max acceleration for an axis,
# as well as how to retrieve the configured max speed, max acceleration and actual speed of a specific axis.

mm = MachineMotionV2()

axis        = AXIS_NUMBER.DRIVE1

maxSpeedAxis        = 50   # mm/s
maxAccelerationAxis = 150  # mm/s^2

# Setting speeds and accelerations

print('Setting max speed for axis ', axis, ': ', maxSpeedAxis, "mm/s")
mm.setAxisMaxSpeed(axis, maxSpeedAxis)
print('Setting max acceleration for axis ', axis, ': ', maxAccelerationAxis, "mm/s^2")
mm.setAxisMaxAcceleration(axis, maxAccelerationAxis)

# Getting speeds and accelerations

print('Getting speeds and accelerations...')

maxSpeed = mm.getAxisMaxSpeed(axis)
maxAccel = mm.getAxisMaxAcceleration(axis)
print('For axis ', axis, ' retrieved max speed: ', maxSpeed, 'mm/s, max acceleration: ', maxAccel, 'mm/s^2')

actualSpeed = mm.getActualSpeeds(axis)
print('For axis ', axis, ' retrieved actual speed: ', actualSpeed, 'mm/s') # The value should be 0 as the axis is not moving.

print("Getting actual speeds for all axes, in mm/s:")
actualSpeeds = mm.getActualSpeeds()
print(actualSpeeds) # The values should be 0 as the axes are not moving.

print('Done!')

Example: moveIndependentAxis.py

#!/usr/bin/python
import time
from MachineMotion import *

### IMPORTANT: This example file is compatible with MachineMotion Software version 2.4.0 or newer. ###

### This Python example configures and moves an independent axis.
### The individual axis speed and acceleration are set, 
### then motion on the axis is selectively started, stopped and monitored

mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Configure the axis
axis = 1
mm.configServo(axis, MECH_GAIN.timing_belt_150mm_turn, DIRECTION.NORMAL, 10.0, motorSize=MOTOR_SIZE.LARGE)

# Move, stop and monitor the axis
axisSpeed = 50          # mm/s
axisAcceleration = 50   # mm/s^2
distance = 250          # mm

print(
    'Configuring axis: ', axis,
    ' speed: ', axisSpeed, 'mm/s',
    ' acceleration: ', axisAcceleration, 'mm/s^2'
)
mm.setAxisMaxSpeed(axis, axisSpeed)
mm.setAxisMaxAcceleration(axis, axisAcceleration)

print('Relative move: ', distance, 'mm')
mm.moveRelative(axis,distance)

axisMotionCompleted = mm.isMotionCompleted(axis)
if axisMotionCompleted :
    print ('Axis ', axis, ' is NOT currently moving.')
else :
    print ('Axis ', axis, ' is currently moving.')

time.sleep(3)

print('Stopping just axis: ', axis)
mm.stopAxis(axis)

time.sleep(3)

print('Moving and waiting for axis: ', axis)
mm.moveToPosition(axis,distance)
mm.waitForMotionCompletion(axis)

print('Done!')

• desc Get maximum speed for a given axis.
  • params
    • axis
      • desc The target axis to read maximum speed from.
      • type Number of the AXIS_NUMBER class.
  • compatibility MachineMotion v2.
  • returnValue Axis max speed in mm/s
  • returnValueType Number

Example: speedAndAcceleration.py

#!/usr/bin/python

from MachineMotion import *

### IMPORTANT: This example file is compatible with MachineMotion Software version 2.4.0 or newer. ###

### speedAndAcceleration.py
# This example shows how to change the configured max speed and max acceleration for an axis,
# as well as how to retrieve the configured max speed, max acceleration and actual speed of a specific axis.

mm = MachineMotionV2()

axis        = AXIS_NUMBER.DRIVE1

maxSpeedAxis        = 50   # mm/s
maxAccelerationAxis = 150  # mm/s^2

# Setting speeds and accelerations

print('Setting max speed for axis ', axis, ': ', maxSpeedAxis, "mm/s")
mm.setAxisMaxSpeed(axis, maxSpeedAxis)
print('Setting max acceleration for axis ', axis, ': ', maxAccelerationAxis, "mm/s^2")
mm.setAxisMaxAcceleration(axis, maxAccelerationAxis)

# Getting speeds and accelerations

print('Getting speeds and accelerations...')

maxSpeed = mm.getAxisMaxSpeed(axis)
maxAccel = mm.getAxisMaxAcceleration(axis)
print('For axis ', axis, ' retrieved max speed: ', maxSpeed, 'mm/s, max acceleration: ', maxAccel, 'mm/s^2')

actualSpeed = mm.getActualSpeeds(axis)
print('For axis ', axis, ' retrieved actual speed: ', actualSpeed, 'mm/s') # The value should be 0 as the axis is not moving.

print("Getting actual speeds for all axes, in mm/s:")
actualSpeeds = mm.getActualSpeeds()
print(actualSpeeds) # The values should be 0 as the axes are not moving.

print('Done!')

• desc Get the current measured speed of all or one axis, in mm/s
  • params
    • axis
      • desc The axis to get the current speed of. If None is passed, all axes will be checked.
      • type Number of the AXIS_NUMBER class, or None
      • default None
  • compatibility MachineMotion v2, software version 2.2.0 and newer.
  • returnValue The current speed of the axis if that parameter was specified, or a dictionary containing the current speed of every axis, in mm/s.
  • returnValueType Number or Dictionary of numbers

Example: speedAndAcceleration.py

#!/usr/bin/python

from MachineMotion import *

### IMPORTANT: This example file is compatible with MachineMotion Software version 2.4.0 or newer. ###

### speedAndAcceleration.py
# This example shows how to change the configured max speed and max acceleration for an axis,
# as well as how to retrieve the configured max speed, max acceleration and actual speed of a specific axis.

mm = MachineMotionV2()

axis        = AXIS_NUMBER.DRIVE1

maxSpeedAxis        = 50   # mm/s
maxAccelerationAxis = 150  # mm/s^2

# Setting speeds and accelerations

print('Setting max speed for axis ', axis, ': ', maxSpeedAxis, "mm/s")
mm.setAxisMaxSpeed(axis, maxSpeedAxis)
print('Setting max acceleration for axis ', axis, ': ', maxAccelerationAxis, "mm/s^2")
mm.setAxisMaxAcceleration(axis, maxAccelerationAxis)

# Getting speeds and accelerations

print('Getting speeds and accelerations...')

maxSpeed = mm.getAxisMaxSpeed(axis)
maxAccel = mm.getAxisMaxAcceleration(axis)
print('For axis ', axis, ' retrieved max speed: ', maxSpeed, 'mm/s, max acceleration: ', maxAccel, 'mm/s^2')

actualSpeed = mm.getActualSpeeds(axis)
print('For axis ', axis, ' retrieved actual speed: ', actualSpeed, 'mm/s') # The value should be 0 as the axis is not moving.

print("Getting actual speeds for all axes, in mm/s:")
actualSpeeds = mm.getActualSpeeds()
print(actualSpeeds) # The values should be 0 as the axes are not moving.

print('Done!')

• desc Set maximum acceleration for a given axis.
  • params
    • axis
      • desc The target to set axis acceleration.
      • type Number of the AXIS_NUMBER class.
    • acceleration
      • desc The axis acceleration in mm/s^2
      • type Number
  • compatibility MachineMotion v2.

Example: speedAndAcceleration.py

#!/usr/bin/python

from MachineMotion import *

### IMPORTANT: This example file is compatible with MachineMotion Software version 2.4.0 or newer. ###

### speedAndAcceleration.py
# This example shows how to change the configured max speed and max acceleration for an axis,
# as well as how to retrieve the configured max speed, max acceleration and actual speed of a specific axis.

mm = MachineMotionV2()

axis        = AXIS_NUMBER.DRIVE1

maxSpeedAxis        = 50   # mm/s
maxAccelerationAxis = 150  # mm/s^2

# Setting speeds and accelerations

print('Setting max speed for axis ', axis, ': ', maxSpeedAxis, "mm/s")
mm.setAxisMaxSpeed(axis, maxSpeedAxis)
print('Setting max acceleration for axis ', axis, ': ', maxAccelerationAxis, "mm/s^2")
mm.setAxisMaxAcceleration(axis, maxAccelerationAxis)

# Getting speeds and accelerations

print('Getting speeds and accelerations...')

maxSpeed = mm.getAxisMaxSpeed(axis)
maxAccel = mm.getAxisMaxAcceleration(axis)
print('For axis ', axis, ' retrieved max speed: ', maxSpeed, 'mm/s, max acceleration: ', maxAccel, 'mm/s^2')

actualSpeed = mm.getActualSpeeds(axis)
print('For axis ', axis, ' retrieved actual speed: ', actualSpeed, 'mm/s') # The value should be 0 as the axis is not moving.

print("Getting actual speeds for all axes, in mm/s:")
actualSpeeds = mm.getActualSpeeds()
print(actualSpeeds) # The values should be 0 as the axes are not moving.

print('Done!')

Example: moveIndependentAxis.py

#!/usr/bin/python
import time
from MachineMotion import *

### IMPORTANT: This example file is compatible with MachineMotion Software version 2.4.0 or newer. ###

### This Python example configures and moves an independent axis.
### The individual axis speed and acceleration are set, 
### then motion on the axis is selectively started, stopped and monitored

mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Configure the axis
axis = 1
mm.configServo(axis, MECH_GAIN.timing_belt_150mm_turn, DIRECTION.NORMAL, 10.0, motorSize=MOTOR_SIZE.LARGE)

# Move, stop and monitor the axis
axisSpeed = 50          # mm/s
axisAcceleration = 50   # mm/s^2
distance = 250          # mm

print(
    'Configuring axis: ', axis,
    ' speed: ', axisSpeed, 'mm/s',
    ' acceleration: ', axisAcceleration, 'mm/s^2'
)
mm.setAxisMaxSpeed(axis, axisSpeed)
mm.setAxisMaxAcceleration(axis, axisAcceleration)

print('Relative move: ', distance, 'mm')
mm.moveRelative(axis,distance)

axisMotionCompleted = mm.isMotionCompleted(axis)
if axisMotionCompleted :
    print ('Axis ', axis, ' is NOT currently moving.')
else :
    print ('Axis ', axis, ' is currently moving.')

time.sleep(3)

print('Stopping just axis: ', axis)
mm.stopAxis(axis)

time.sleep(3)

print('Moving and waiting for axis: ', axis)
mm.moveToPosition(axis,distance)
mm.waitForMotionCompletion(axis)

print('Done!')

• desc Get maximum acceleration for a given axis.
  • params
    • axis
      • desc The target axis to read maximum acceleration from.
      • type Number of the AXIS_NUMBER class.
  • compatibility MachineMotion v2.
  • returnValue Max acceleration for the axis in mm/s^2.
  • returnValueType Number

Example: speedAndAcceleration.py

#!/usr/bin/python

from MachineMotion import *

### IMPORTANT: This example file is compatible with MachineMotion Software version 2.4.0 or newer. ###

### speedAndAcceleration.py
# This example shows how to change the configured max speed and max acceleration for an axis,
# as well as how to retrieve the configured max speed, max acceleration and actual speed of a specific axis.

mm = MachineMotionV2()

axis        = AXIS_NUMBER.DRIVE1

maxSpeedAxis        = 50   # mm/s
maxAccelerationAxis = 150  # mm/s^2

# Setting speeds and accelerations

print('Setting max speed for axis ', axis, ': ', maxSpeedAxis, "mm/s")
mm.setAxisMaxSpeed(axis, maxSpeedAxis)
print('Setting max acceleration for axis ', axis, ': ', maxAccelerationAxis, "mm/s^2")
mm.setAxisMaxAcceleration(axis, maxAccelerationAxis)

# Getting speeds and accelerations

print('Getting speeds and accelerations...')

maxSpeed = mm.getAxisMaxSpeed(axis)
maxAccel = mm.getAxisMaxAcceleration(axis)
print('For axis ', axis, ' retrieved max speed: ', maxSpeed, 'mm/s, max acceleration: ', maxAccel, 'mm/s^2')

actualSpeed = mm.getActualSpeeds(axis)
print('For axis ', axis, ' retrieved actual speed: ', actualSpeed, 'mm/s') # The value should be 0 as the axis is not moving.

print("Getting actual speeds for all axes, in mm/s:")
actualSpeeds = mm.getActualSpeeds()
print(actualSpeeds) # The values should be 0 as the axes are not moving.

print('Done!')

• desc Moves the specified axis to a desired end location.
  • params
    • axis
      • desc The axis which will perform the absolute move command.
      • type Number
    • position
      • desc The desired end position of the axis movement.
      • type Number
  • compatibility MachineMotion v1 and MachineMotion v2.

Example: moveToPosition.py

import sys
sys.path.append("../..")
from MachineMotion import *

### This Python example showcases moveToPosition with MachineMotion v2. ###

mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Axis configuration
axis = 1             #The axis that you'd like to move
mm.configServo(axis, MECH_GAIN.timing_belt_150mm_turn, DIRECTION.NORMAL, 10.0, motorSize=MOTOR_SIZE.LARGE)

# Movement configuration
position = 100       # The absolute position to which you'd like to move

# Home Axis before move to position
print("Axis " + str(axis) + " is going home.")
mm.moveToHome(axis)
mm.waitForMotionCompletion()
print("Axis " + str(axis) + " homed.")

# Move
mm.moveToPosition(axis, position)
print("Axis " + str(axis) + " is moving towards position " + str(position) + "mm")
mm.waitForMotionCompletion()
print("Axis " + str(axis) + " is at position " + str(position) + "mm")

• desc Moves multiple specified axes to their desired end locations synchronously.
  • params
    • axes
      • desc The axes which will perform the move commands. Ex - [1 ,3]
      • type List
    • positions
      • desc The desired end position of all axess movement. Ex - [50, 10]
      • type List
  • compatibility MachineMotion v1 and MachineMotion v2.
  • note The current speed and acceleration settings are applied to the combined motion of the axes.

Example: moveToPositionCombined.py

import sys
sys.path.append("../..")
from MachineMotion import *

### This Python example showcases combined absolute moves with MachineMotion v2. ###

mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Configure actuators
axesToMove = [1,2,3]
for axis in axesToMove:
    mm.configServo(axis, MECH_GAIN.timing_belt_150mm_turn, DIRECTION.NORMAL, 10.0, motorSize=MOTOR_SIZE.LARGE)

# Home actuators before performing absolute moves
print("Axes Moving Home Sequentially")
for axis in axesToMove:
    mm.moveToHome(axis)
    mm.waitForMotionCompletion()
print("Axes homed")

# Simultaneously moves three axis:
#   Moves axis 1 to absolute position 50mm
#   Moves axis 2 to absolute position 100mm
#   Moves axis 3 to absolute position 50mm
positions = [50, 100, 50]
mm.moveToPositionCombined(axesToMove, positions)
mm.waitForMotionCompletion()
for index, axis in enumerate(axesToMove):
    print("Axis " + str(axis) + " moved to position " + str(positions[index]) + "mm")

• desc Moves the specified axis the specified distance.
  • params
    • axis
      • desc The axis to move.
      • type Integer
    • distance
      • desc The travel distance in mm.
      • type Number
  • compatibility MachineMotion v1 and MachineMotion v2.

Example: moveRelative.py

import sys
sys.path.append("../..")
from MachineMotion import *

### This Python example showcases relative moves with MachineMotion v2. ###

mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Configure the actuator
axis = 1
mm.configServo(axis, MECH_GAIN.timing_belt_150mm_turn, DIRECTION.NORMAL, 10.0, motorSize=MOTOR_SIZE.LARGE)

# Begin Relative Move
distance = 100 # in mm
mm.moveRelative(axis, distance)
mm.waitForMotionCompletion()
print("--> Axis " + str(axis) + " moved " + str(distance) + "mm")

# Pass a negative distance value to move in the opposite direction
distance = -100 # in mm
mm.moveRelative(axis, distance)
mm.waitForMotionCompletion()
print("--> Axis " + str(axis) + " moved " + str(distance) + "mm")

print("--> Example Complete")

• desc Moves the multiple specified axes the specified distances.
  • params
    • axes
      • desc The axes to move. Ex-[1,3]
      • type List of Integers
    • distances
      • desc The travel distances in mm. Ex - [10, 40]
      • type List of Numbers
  • compatibility MachineMotion v1 and MachineMotion v2.
  • note The current speed and acceleration settings are applied to the combined motion of the axes.

Example: moveRelativeCombined.py

import sys
sys.path.append("../..")
from MachineMotion import *

### This Python example showcases combined relative moves with MachineMotion v1. ###

mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Configure actuators
axesToMove = [1,2,3]
for axis in axesToMove:
    mm.configServo(axis, MECH_GAIN.timing_belt_150mm_turn, DIRECTION.NORMAL, 10.0, motorSize=MOTOR_SIZE.LARGE)

# Simultaneously moves three axis:
#   Move axis 1 in the positive direction by 50 mm
#   Move axis 2 in the negative direction by 100 mm
#   Move axis 3 in the positive direction by 50 mm
distances = [50, 100, 50]
mm.moveRelativeCombined(axesToMove, distances)
mm.waitForMotionCompletion()
for index, axis in enumerate(axesToMove):
    print("Axis " + str(axis) + " moved " + str(distances[index]) + "mm")

• desc Override the current position of the specified axis to a new value.
  • params
    • axis
      • desc Overrides the position on this axis.
      • type Number
    • position
      • desc The new position value in mm.
      • type Number
  • compatibility MachineMotion v1 and MachineMotion v2.

Example: setPosition.py

import sys, time
sys.path.append("../..")
from MachineMotion import *

### This Python example showcases how to set actuator position with MachineMotion v2. ###

mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Configure the actuator
axis = 1
mm.configServo(axis, MECH_GAIN.timing_belt_150mm_turn, DIRECTION.NORMAL, 10.0, motorSize=MOTOR_SIZE.LARGE)

# Home the actuator
print("Axis " + str(axis) + " will home")
mm.moveToHome(axis)
mm.waitForMotionCompletion()
print("Axis " + str(axis) + " homed")

### Perform asolute moves with different reference points ###

print("Absolute Moves are referenced from home")
position = 100
mm.moveToPosition(axis, position)
mm.waitForMotionCompletion()
print("Axis " + str(axis) + " is " + str(position) + "mm away from home.")

# Change the reference point to the current position
mm.setPosition(axis, 0)
print("Absolute moves on axis " + str(axis) + " are now referenced from " +  str(position) + "mm from home. ")
time.sleep(2)

# Move again
position2 = 30
print("Now moving to absolute position " + str(position2) + " mm, referenced from location 'setPosition' was called")
mm.moveToPosition(axis, position2)
mm.waitForMotionCompletion()
print("Axis " + str(axis) + " is now " + str(position2) + "mm from reference position and " + str(position + position2) + "mm from home")

• desc Executes raw gCode on the controller.
  • params
    • gCode
      • desc The g-code that will be passed directly to the controller.
      • type String
  • note All movement commands sent to the controller are by default in mm.
  • compatibility Recommended for MachineMotion v1.

• desc Indicates if the last move command has completed.
  • params
    • axis
      • desc Target axis to check. If None is passed, all axes will be checked.
      • type Number of the AXIS_NUMBER class, or None
      • default None
  • returnValue Returns false if the machine is currently executing a movement command.
  • returnValueType Boolean or Dictionary of Booleans
  • compatibility MachineMotion v1 and MachineMotion v2.
  • note isMotionCompleted does not account for on-going continuous moves.

Example: getPositions.py

import sys, time
sys.path.append("../..")
from MachineMotion import *

### This Python example showcases how to read actuator positions with MachineMotion v2. ###

###### CONFIGURING MACHINEMOTION ######

mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Configure actuator
axis = 1
print("--> Configuring actuator")
mm.configServo(axis, MECH_GAIN.rack_pinion_mm_turn, DIRECTION.POSITIVE, 10.0, motorSize=MOTOR_SIZE.LARGE)

# Home Axis Before Moving
print("--> Axis " + str(axis) + " moving home")
mm.moveToHome(axis)
mm.waitForMotionCompletion()
print("--> Axis " + str(axis) + " homed")


###### READ POSITIONS ######

# Read the position of one axis
print("--> Read the position of one axis")
actualPosition_axis  = mm.getActualPositions(axis)
print("Actual position of axis " + str(axis) + " is : " + str(actualPosition_axis) + " mm.")

# Read the position of several axes
print("--> Read the position of several axes")
actualPositions  = mm.getActualPositions()
print("Actual position of axis 1 is : " + str(actualPositions[1]) + " mm.")
print("Actual position of axis 2 is : " + str(actualPositions[2]) + " mm.")
print("Actual position of axis 3 is : " + str(actualPositions[3]) + " mm.")
print("Actual position of axis 4 is : " + str(actualPositions[4]) + " mm.")

###### MOVE AND READ POSITIONS ######

# Define Motion Parameters
distance = 100

# Move 100mm and check position again
mm.moveRelative(axis, distance)
print("--> Move ongoing")
while not mm.isMotionCompleted():
    actualPosition_axis  = mm.getActualPositions(axis)
    print("Actual position of axis " + str(axis) + " is : " + str(actualPosition_axis) + " mm.")

mm.waitForMotionCompletion()
print("--> Move completed")
actualPosition_axis  = mm.getActualPositions(axis)
print("Actual position of axis " + str(axis) + " is : " + str(actualPosition_axis) + " mm.")

print("--> End of example")

• desc Pauses python program execution until machine has finished its current movement.
  • params
    • axis Target axis to check. If None is passed, all axes will be checked.
    • type Number or None
    • default None
  • compatibility MachineMotion v1 and MachineMotion v2.
  • note waitForMotionCompletion does not account for on-going continuous moves.

Example: waitForMotionCompletion.py

import sys
sys.path.append("../..")
from MachineMotion import *

### This Python example showcases how to wait for actuator motion completion on MachineMotion v2. ###

mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Configure the actuator
axis = 1
mm.configServo(axis, MECH_GAIN.timing_belt_150mm_turn, DIRECTION.NORMAL, 10.0, motorSize=MOTOR_SIZE.LARGE)

# Move the axis by 100mm
distance = 100

print("Moving %d mm!"  % distance)
mm.moveRelative(axis, distance)
print("This message gets printed immediately")
mm.waitForMotionCompletion()
print("This message gets printed once machine has finished moving")

Example: moveIndependentAxis.py

#!/usr/bin/python
import time
from MachineMotion import *

### IMPORTANT: This example file is compatible with MachineMotion Software version 2.4.0 or newer. ###

### This Python example configures and moves an independent axis.
### The individual axis speed and acceleration are set, 
### then motion on the axis is selectively started, stopped and monitored

mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Configure the axis
axis = 1
mm.configServo(axis, MECH_GAIN.timing_belt_150mm_turn, DIRECTION.NORMAL, 10.0, motorSize=MOTOR_SIZE.LARGE)

# Move, stop and monitor the axis
axisSpeed = 50          # mm/s
axisAcceleration = 50   # mm/s^2
distance = 250          # mm

print(
    'Configuring axis: ', axis,
    ' speed: ', axisSpeed, 'mm/s',
    ' acceleration: ', axisAcceleration, 'mm/s^2'
)
mm.setAxisMaxSpeed(axis, axisSpeed)
mm.setAxisMaxAcceleration(axis, axisAcceleration)

print('Relative move: ', distance, 'mm')
mm.moveRelative(axis,distance)

axisMotionCompleted = mm.isMotionCompleted(axis)
if axisMotionCompleted :
    print ('Axis ', axis, ' is NOT currently moving.')
else :
    print ('Axis ', axis, ' is currently moving.')

time.sleep(3)

print('Stopping just axis: ', axis)
mm.stopAxis(axis)

time.sleep(3)

print('Moving and waiting for axis: ', axis)
mm.moveToPosition(axis,distance)
mm.waitForMotionCompletion(axis)

print('Done!')

• desc Sets homing speed for all selected axes.
  • params
    • axes
      • desc A list of the axes to configure. ex - [1,2,3]
      • type List of Numbers
    • speeds
      • desc A list of homing speeds to set for each axis. ex - [50, 50, 100]
      • type List of Numbers
    • units
      • desc Units for speed. Can be switched to UNITS_SPEED.mm_per_min
      • defaultValue UNITS_SPEED.mm_per_sec
      • type String
  • compatibility MachineMotion v1 and MachineMotion v2.
  • note Once set, the homing speed will apply to all programs, including MachineLogic applications.

Example: configHomingSpeed.py

import sys
sys.path.append("../..")
from MachineMotion import *

### This Python example configures homing speed for MachineMotion v2. ###

mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

### Configuring ###

axes = [1,2]
homingSpeeds = [50,100] # The homing speeds to set for each axis, in mm/s

mm.configServo(1, MECH_GAIN.timing_belt_150mm_turn, DIRECTION.NORMAL, 10.0, motorSize=MOTOR_SIZE.LARGE)
mm.configServo(2, MECH_GAIN.timing_belt_150mm_turn, DIRECTION.NORMAL, 10.0, motorSize=MOTOR_SIZE.LARGE)
mm.configHomingSpeed(axes, homingSpeeds)    # Sets homing speeds for all selected axes.

### Testing the configuration ###

axis = 1    # The axis to move

print("Moving axis " + str(axis) + " by 100mm.")
mm.moveRelative(axis, 100)
mm.waitForMotionCompletion()

#Homes the axis at the newly configured homing speed.
print("Homing axis " + str(axis))

mm.moveToHome(axis)
mm.waitForMotionCompletion()

• desc Configures motion parameters for a single axis on the MachineMotion v1.
  • params
    • axis
      • desc The axis to configure.
      • type Number
    • uStep
      • desc The microstep setting of the axis.
      • type Number
    • mechGain
      • desc The distance moved by the actuator for every full rotation of the stepper motor, in mm/revolution.
      • type Number
  • note The uStep setting is hardcoded into the machinemotion controller through a DIP switch and is by default set to 8. The value here must match the value on the DIP Switch.
  • compatibility MachineMotion v1 only.

• desc Configures a single axis to operate in either clockwise (normal) or counterclockwise (reverse) mode. Refer to the Automation System Diagram for the correct axis setting.
  • params
    • axis
      • desc The specified axis.
      • type Number
    • direction
      • desc A string from the DIRECTION class. Either ‘DIRECTION.NORMAL’ or ‘DIRECTION.REVERSE’. Normal direction means the axis will home towards end stop sensor A and reverse will make the axis home towards end stop B.
      • type String
  • compatibility MachineMotion v1 only.

• desc Configures motion parameters as a stepper motor, for a single drive on the MachineMotion v2.
  • params
    • drive
      • desc The drive to configure.
      • type Number of the AXIS_NUMBER class
    • mechGain
      • desc The distance moved by the actuator for every full rotation of the stepper motor, in mm/revolution.
      • type Number of the MECH_GAIN class
    • direction
      • desc The direction of the axis
      • type String of the DIRECTION class
    • motorCurrent
      • desc The current to power the motor with, in Amps.
      • type Number
    • microSteps
      • desc The microstep setting of the drive.
      • type Number from MICRO_STEPS class
    • motorSize
      • desc The size of the motor(s) connected to the specified drive(s)
      • type String from the MOTOR_SIZE class
      • default MOTOR_SIZE.LARGE
  • note Warning, changing the configuration can de-energize motors and thus cause unintended behaviour on vertical axes.
  • compatibility MachineMotion v2 only.

Example: configStepperServo.py

import sys
sys.path.append("../..")
from MachineMotion import *

### This Python example configures actuators for a MachineMotion v2. ###

mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Configure a timing belt actuator in servo mode, on drive 1
drive = 1
mechGain = MECH_GAIN.timing_belt_150mm_turn
direction = DIRECTION.NORMAL
motorCurrent = 10.0 # Amperes
mm.configServo( drive,
                mechGain,
                direction,
                motorCurrent,
                tuningProfile=TUNING_PROFILES.DEFAULT,
                motorSize=MOTOR_SIZE.LARGE,
                brake=BRAKE.PRESENT)

# Configure an electric cylinder actuator in stepper mode, on drive 2
drive = 2
mechGain = MECH_GAIN.electric_cylinder_mm_turn
direction = DIRECTION.NORMAL
motorCurrent = 1.6 # Amperes
mm.configStepper( drive,
                  mechGain,
                  direction,
                  motorCurrent,
                  microSteps = MICRO_STEPS.ustep_4,
                  motorSize=MOTOR_SIZE.ELECTRIC_CYLINDER)

• desc Configures motion parameters as a servo motor, for a single drive on the MachineMotion v2.
  • params
    • drives
      • desc The drive or list of drives to configure.
      • type Number or list of numbers of the AXIS_NUMBER class
    • mechGain
      • desc The distance moved by the actuator for every full rotation of the stepper motor, in mm/revolution.
      • type Number of the MECH_GAIN class
    • directions
      • desc The direction or list of directions of each configured axis
      • type String or list of strings of the DIRECTION class. Must have the same length as drives
    • motorCurrent
      • desc The current to power the motor with, in Amps.
      • type Number
    • tuningProfile
      • desc The tuning profile of the smartDrive. Determines the characteristics of the servo motor’s PID controller
      • type String of the TUNING_PROFILES class
      • default TUNING_PROFILES.DEFAULT
    • parentDrive
      • desc The parent drive of the multi-drive axis. The axis’ home and end sensors must be connected to this drive.
      • type Number
      • default None
    • motorSize
      • desc The size of the motor(s) connected to the specified drive(s)
      • type String from the MOTOR_SIZE class
      • default MOTOR_SIZE.LARGE
    • brake
      • desc The presence of a brake on the desired axis.If set to BRAKE.PRESENT, moving the axis while the brake is locked will generate an error.If set to BRAKE.NONE, motion will be allowed regardless of internal brake control.
      • type String of the BRAKE class
      • default BRAKE.NONE
  • note Warning, changing the configuration can de-energize motors and thus cause unintended behaviour on vertical axes.
  • compatibility MachineMotion v2 only.

Example: configStepperServo.py

import sys
sys.path.append("../..")
from MachineMotion import *

### This Python example configures actuators for a MachineMotion v2. ###

mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Configure a timing belt actuator in servo mode, on drive 1
drive = 1
mechGain = MECH_GAIN.timing_belt_150mm_turn
direction = DIRECTION.NORMAL
motorCurrent = 10.0 # Amperes
mm.configServo( drive,
                mechGain,
                direction,
                motorCurrent,
                tuningProfile=TUNING_PROFILES.DEFAULT,
                motorSize=MOTOR_SIZE.LARGE,
                brake=BRAKE.PRESENT)

# Configure an electric cylinder actuator in stepper mode, on drive 2
drive = 2
mechGain = MECH_GAIN.electric_cylinder_mm_turn
direction = DIRECTION.NORMAL
motorCurrent = 1.6 # Amperes
mm.configStepper( drive,
                  mechGain,
                  direction,
                  motorCurrent,
                  microSteps = MICRO_STEPS.ustep_4,
                  motorSize=MOTOR_SIZE.ELECTRIC_CYLINDER)

Example: configMultiDriveServo.py

import sys
sys.path.append("../..")
from MachineMotion import *

### This Python example configures and moves a multi-drive axis. ###

### Multiple motors that are mechanically linked can now be treated
### as though they are a single axis. Once propely configured,
### multi-drive axes can be moved just as with single-drive axes.

### Machine Motion declaration
mm = MachineMotionV2()

### If not on a conveyor, the parent drive must have home and end sensors.
### The child drive's sensors will be ignored.
parent = 1
parentDirection = DIRECTION.NORMAL
child = 2
childDirection = DIRECTION.NORMAL

mechGain = MECH_GAIN.timing_belt_150mm_turn
motorCurrent = 10.0 # Current (A)

print("--> Configuring parent drive " + str(parent) + " with child " + str(child))

### Configure your multi-drive axis by passing the list of drives, directions and parent drive.
mm.configServo([parent, child], mechGain, [parentDirection, childDirection], motorCurrent, parentDrive = parent, motorSize=MOTOR_SIZE.LARGE)

### The parent and child drives are now linked.
### Control the multi-drive axis via the parent drive:

print("--> Multi-drive axis is moving relative by 200mm!")
mm.moveRelative(parent, 200)
mm.waitForMotionCompletion()

print("--> Example Complete!")

• desc Returns a dictionary containing all detected IO Modules.
  • note For more information, please see the digital IO datasheet here
  • returnValue Dictionary with keys of format “Digital IO Network Id [id]” and values [id] where [id] is the network IDs of all connected digital IO modules.
  • returnValueType Dictionary
  • compatibility MachineMotion v1 and MachineMotion v2.

Example: digitalRead.py

import sys
sys.path.append("../..")
from MachineMotion import *

### This Python example reads digital inputs for MachineMotion v2. ###

mm = MachineMotionV2()

# Detect all connected digital IO Modules
detectedIOModules = mm.detectIOModules()

# Read and print all input values
if detectedIOModules is not None :
   for IO_Name, IO_NetworkID in detectedIOModules.items():
      readPins = [0, 1, 2, 3]
      for readPin in readPins:
          pinValue = mm.digitalRead(IO_NetworkID, readPin)
          print("Pin " + str(readPin) + " on " + IO_Name + " has value " + str(pinValue))

• desc Reads the state of a digital IO modules input pins.
  • params
    • deviceNetworkId
      • desc The IO Modules device network ID. It can be found printed on the product sticker on the back of the digital IO module.
      • type Integer
    • pin
      • desc The index of the input pin.
      • type Integer
  • returnValue Returns 1 if the input pin is logic HIGH (24V) and returns 0 if the input pin is logic LOW (0V).
  • compatibility MachineMotion v1 and MachineMotion v2.
  • note On older digital IO modules, the pin labels on the digital IO module (pin 1, pin 2, pin 3, pin 4) correspond in software to (0, 1, 2, 3). Therefore, digitalRead(deviceNetworkId, 2) will read the value on input pin 3.

Example: digitalRead.py

import sys
sys.path.append("../..")
from MachineMotion import *

### This Python example reads digital inputs for MachineMotion v2. ###

mm = MachineMotionV2()

# Detect all connected digital IO Modules
detectedIOModules = mm.detectIOModules()

# Read and print all input values
if detectedIOModules is not None :
   for IO_Name, IO_NetworkID in detectedIOModules.items():
      readPins = [0, 1, 2, 3]
      for readPin in readPins:
          pinValue = mm.digitalRead(IO_NetworkID, readPin)
          print("Pin " + str(readPin) + " on " + IO_Name + " has value " + str(pinValue))

• desc Sets voltage on specified pin of digital IO output pin to either logic HIGH (24V) or LOW (0V).
  • params
    • deviceNetworkId
      • desc The IO Modules device network ID. It can be found printed on the product sticker on the back of the digital IO module.
      • type Integer
    • pin
      • desc The output pin number to write to.
      • type Integer
    • value
      • desc Writing ‘1’ or HIGH will set digial output to 24V, writing 0 will set digital output to 0V.
      • type Integer
  • compatibility MachineMotion v1 and MachineMotion v2.
  • note Output pins maximum sourcing current is 75 mA and the maximum sinking current is 100 mA. On older digital IO modules, the pin labels on the digital IO module (pin 1, pin 2, pin 3, pin 4) correspond in software to (0, 1, 2, 3). Therefore, digitalWrite(deviceNetworkId, 2, 1) will set output pin 3 to 24V.

Example: digitalWrite.py

import sys, time
sys.path.append("../..")
from MachineMotion import *

### This Python example writes digital outputs for MachineMotion v2. ###

mm = MachineMotionV2()

# Detect all connected digital IO Modules
detectedIOModules = mm.detectIOModules()

# Toggles the output pins
if detectedIOModules is not None :
    for IO_Name, IO_NetworkID in detectedIOModules.items():
        writePins = [0, 1, 2, 3]
        for writePin in writePins :
            print("Pin " + str(writePin) + " on " + IO_Name + " is going to flash twice")

            mm.digitalWrite(IO_NetworkID, writePin, 1)
            time.sleep(1)
            mm.digitalWrite(IO_NetworkID, writePin, 0)
            time.sleep(1)
            mm.digitalWrite(IO_NetworkID, writePin, 1)
            time.sleep(1)
            mm.digitalWrite(IO_NetworkID, writePin, 0)
            time.sleep(1)

• desc Sets a switch of a power switch module to ON (closed) or OFF (open).
  • params
    • deviceNetworkId
      • desc Power switch device network ID. It can be found printed on the dipswitch of the power switch module.
      • type Integer
    • value
      • desc Writing POWER_SWITCH.ON will set the switch to closed, writing POWER_SWITCH.OFF will set the switch to open.
      • type Boolean or String of the POWER_SWITCH class
  • compatibility MachineMotion v2.

Example: powerSwitch.py

import sys
import time
sys.path.append("../..")
from MachineMotion import *

### This Python example control a power switch module on MachineMotion v2. ###

mm = MachineMotionV2()

deviceNetworkId = 7

### Set the power switch
print("--> Turning power switch on")
mm.setPowerSwitch(deviceNetworkId, POWER_SWITCH.ON)
time.sleep(3)
print("--> Turning power switch off")
mm.setPowerSwitch(deviceNetworkId, POWER_SWITCH.OFF)
time.sleep(3)

print("--> Example Complete")

• desc Wait until a push button has reached a desired state
  • params
    • deviceNetworkId
      • desc The Push-Button module’s device network ID. This is set on the dipswitch of the module.
      • type Integer
    • button
      • desc The address of the button (PUSH_BUTTON.COLOR.BLACK or PUSH_BUTTON.COLOR.WHITE) you want to readsee PUSH_BUTTON class
      • type Integer of the PUSH_BUTTON.COLOR class
    • state
      • desc The state of the push button (PUSH_BUTTON.STATE.PUSHED or PUSH_BUTTON.STATE.RELEASED) necessary to proceedsee PUSH_BUTTON class
      • type String of the PUSH_BUTTON.STATE class
      • default By default, this function will wait until the desired push button is PUSH_BUTTON.STATE.PUSHED.
    • timeout
      • desc The maximum time (seconds) the function will wait until it returns.If no timeout is passed, the function will wait indefinitely.
      • type Integer, Float or None
      • default None
  • returnValue True if push button has reached the desired state, False if the timeout has been reached.
  • compatibility MachineMotion v2.

Example: pushButton.py

import sys
import time
sys.path.append("../..")
from MachineMotion import *

### This Python example showcases different uses for a push button module on MachineMotion v2. ###
mm = MachineMotionV2()

### Define the module and button you would like to monitor.
deviceNetworkId = 5
blackButton = PUSH_BUTTON.COLOR.BLACK
whiteButton = PUSH_BUTTON.COLOR.WHITE

### Block the script until a button is pushed:
print("--> Waiting 5 seconds for the white button to be pushed!")
buttonWasPushed = mm.waitOnPushButton(deviceNetworkId, whiteButton, PUSH_BUTTON.STATE.PUSHED, 5)
if buttonWasPushed:
    print("--> White button was pushed!")
else:
    print("--> waitOnPushButton timed out!")
    
time.sleep(1)

### Manually read the state of a push button
buttonState = mm.readPushButton(deviceNetworkId, whiteButton)
print("--> Reading from white push button: " + buttonState)
time.sleep(2)

### Define a callback to process push button status
def templateCallback(button_state):
    print("--> templateCallback: Black push button on module: " + str(deviceNetworkId) + " has changed state.")      
    if button_state == PUSH_BUTTON.STATE.PUSHED :      
        print("--> Black push button has been pushed.")
    elif button_state == PUSH_BUTTON.STATE.RELEASED :
        print("--> Black push button has been released.")

###  You must first bind the callback function!
mm.bindPushButtonEvent(deviceNetworkId, blackButton, templateCallback)

print("--> Push the black button to trigger event! Press ctrl-c to exit")

while True:
    time.sleep(0.5)

• desc Configures a user-defined function to execute immediately after a change of state of a push button module button
  • params
    • deviceNetworkId
      • desc The Push-Button module’s device network ID. This is set on the dipswitch of the module.
      • type Integer
    • button
      • desc The address of the button (PUSH_BUTTON.COLOR.BLACK or PUSH_BUTTON.COLOR.WHITE) you want to readsee PUSH_BUTTON class
      • type Integer of the PUSH_BUTTON.COLOR class
    • callback_function
      • desc The function to be executed after a push button changes state.
      • type function
  • note The callback function used will be executed in a new thread.
  • compatibility MachineMotion v2.

Example: pushButton.py

import sys
import time
sys.path.append("../..")
from MachineMotion import *

### This Python example showcases different uses for a push button module on MachineMotion v2. ###
mm = MachineMotionV2()

### Define the module and button you would like to monitor.
deviceNetworkId = 5
blackButton = PUSH_BUTTON.COLOR.BLACK
whiteButton = PUSH_BUTTON.COLOR.WHITE

### Block the script until a button is pushed:
print("--> Waiting 5 seconds for the white button to be pushed!")
buttonWasPushed = mm.waitOnPushButton(deviceNetworkId, whiteButton, PUSH_BUTTON.STATE.PUSHED, 5)
if buttonWasPushed:
    print("--> White button was pushed!")
else:
    print("--> waitOnPushButton timed out!")
    
time.sleep(1)

### Manually read the state of a push button
buttonState = mm.readPushButton(deviceNetworkId, whiteButton)
print("--> Reading from white push button: " + buttonState)
time.sleep(2)

### Define a callback to process push button status
def templateCallback(button_state):
    print("--> templateCallback: Black push button on module: " + str(deviceNetworkId) + " has changed state.")      
    if button_state == PUSH_BUTTON.STATE.PUSHED :      
        print("--> Black push button has been pushed.")
    elif button_state == PUSH_BUTTON.STATE.RELEASED :
        print("--> Black push button has been released.")

###  You must first bind the callback function!
mm.bindPushButtonEvent(deviceNetworkId, blackButton, templateCallback)

print("--> Push the black button to trigger event! Press ctrl-c to exit")

while True:
    time.sleep(0.5)

• desc Reads the state of a Push-Button module button.
  • params
    • deviceNetworkId
      • desc The Push-Button module’s device network ID. This is set on the dipswitch of the module.
      • type Integer of the PUSH_BUTTON.COLOR class
    • button
      • desc The address of the button (PUSH_BUTTON.COLOR.BLACK or PUSH_BUTTON.COLOR.WHITE) you want to readsee PUSH_BUTTON class
      • type Integer of the PUSH_BUTTON.COLOR class
  • returnValue Returns PUSH_BUTTON.STATE.RELEASED if the input button is released and returns PUSH_BUTTON.STATE.PUSHED if the input button pushed
  • compatibility MachineMotion v2.

Example: pushButton.py

import sys
import time
sys.path.append("../..")
from MachineMotion import *

### This Python example showcases different uses for a push button module on MachineMotion v2. ###
mm = MachineMotionV2()

### Define the module and button you would like to monitor.
deviceNetworkId = 5
blackButton = PUSH_BUTTON.COLOR.BLACK
whiteButton = PUSH_BUTTON.COLOR.WHITE

### Block the script until a button is pushed:
print("--> Waiting 5 seconds for the white button to be pushed!")
buttonWasPushed = mm.waitOnPushButton(deviceNetworkId, whiteButton, PUSH_BUTTON.STATE.PUSHED, 5)
if buttonWasPushed:
    print("--> White button was pushed!")
else:
    print("--> waitOnPushButton timed out!")
    
time.sleep(1)

### Manually read the state of a push button
buttonState = mm.readPushButton(deviceNetworkId, whiteButton)
print("--> Reading from white push button: " + buttonState)
time.sleep(2)

### Define a callback to process push button status
def templateCallback(button_state):
    print("--> templateCallback: Black push button on module: " + str(deviceNetworkId) + " has changed state.")      
    if button_state == PUSH_BUTTON.STATE.PUSHED :      
        print("--> Black push button has been pushed.")
    elif button_state == PUSH_BUTTON.STATE.RELEASED :
        print("--> Black push button has been released.")

###  You must first bind the callback function!
mm.bindPushButtonEvent(deviceNetworkId, blackButton, templateCallback)

print("--> Push the black button to trigger event! Press ctrl-c to exit")

while True:
    time.sleep(0.5)

• desc Returns the last received encoder position in counts.
  • params
    • encoder
      • desc The identifier of the encoder to read
      • type Integer
    • readingType
      • desc Either ‘real time’ or ‘stable’. In ‘real time’ mode, readEncoder will return the most recently received encoder information. In ‘stable’ mode, readEncoder will update its return value only after the encoder output has stabilized around a specific value, such as when the axis has stopped motion.
      • type String
  • returnValue The current position of the encoder, in counts. The encoder has 3600 counts per revolution.
  • returnValueType Integer
  • compatibility MachineMotion v1 only.
  • note The encoder position returned by this function may be delayed by up to 250 ms due to internal propogation delays.

• desc Triggers the MachineMotion software emergency stop, cutting power to all drives and enabling brakes (if any). The software E stop must be released (using releaseEstop()) in order to re-enable the machine.
  • returnValue The success of the operation.
  • returnValueType Boolean
  • compatibility MachineMotion v1 and MachineMotion v2.

Example: eStop.py

#!/usr/bin/python
import sys, time
sys.path.append("../..")
from MachineMotion import *

### This Python example showcases how to control eStop on MachineMotion v2. ###

### MachineMotion CONFIGURATION ###

# Create MachineMotion instance
mm = MachineMotionV2()
time.sleep(0.1) # Wait to initialize internal eStop topics.

# Define a callback to process estop status
def templateCallback(estop_status):
    print("eStop status is : " + str(estop_status))
    if estop_status == True :
        # executed when you enter estop
        print("MachineMotion is in estop state.")
    elif estop_status == False :
        # executed when you exit estop
        print("MachineMotion is not in estop state.") 
mm.bindeStopEvent(templateCallback)

### ESTOP TRIGGER ###

result = mm.triggerEstop()
if result == True   : print("--> Software stop triggered")
else                : print("--> Failed to trigger software stop")

time.sleep(3.0)

### ESTOP RELEASE ###

result = mm.releaseEstop()
if result == True   : print("--> Software stop released")
else                : print("--> Failed to release software stop")

time.sleep(3.0)

### SYSTEM RESET ###

result = mm.resetSystem()
if result == True   : print("--> System has been reset")
else                : print("--> Failed to reset system")

print("--> Example completed")

• desc Releases the software E-stop and provides power back to the drives.
  • returnValue The success of the operation.
  • returnValueType Boolean
  • compatibility MachineMotion v1 and MachineMotion v2.

Example: eStop.py

#!/usr/bin/python
import sys, time
sys.path.append("../..")
from MachineMotion import *

### This Python example showcases how to control eStop on MachineMotion v2. ###

### MachineMotion CONFIGURATION ###

# Create MachineMotion instance
mm = MachineMotionV2()
time.sleep(0.1) # Wait to initialize internal eStop topics.

# Define a callback to process estop status
def templateCallback(estop_status):
    print("eStop status is : " + str(estop_status))
    if estop_status == True :
        # executed when you enter estop
        print("MachineMotion is in estop state.")
    elif estop_status == False :
        # executed when you exit estop
        print("MachineMotion is not in estop state.") 
mm.bindeStopEvent(templateCallback)

### ESTOP TRIGGER ###

result = mm.triggerEstop()
if result == True   : print("--> Software stop triggered")
else                : print("--> Failed to trigger software stop")

time.sleep(3.0)

### ESTOP RELEASE ###

result = mm.releaseEstop()
if result == True   : print("--> Software stop released")
else                : print("--> Failed to release software stop")

time.sleep(3.0)

### SYSTEM RESET ###

result = mm.resetSystem()
if result == True   : print("--> System has been reset")
else                : print("--> Failed to reset system")

print("--> Example completed")

• desc Resets the system after an eStop event
  • returnValue The success of the operation.
  • returnValueType Boolean
  • compatibility MachineMotion v1 and MachineMotion v2.

Example: eStop.py

#!/usr/bin/python
import sys, time
sys.path.append("../..")
from MachineMotion import *

### This Python example showcases how to control eStop on MachineMotion v2. ###

### MachineMotion CONFIGURATION ###

# Create MachineMotion instance
mm = MachineMotionV2()
time.sleep(0.1) # Wait to initialize internal eStop topics.

# Define a callback to process estop status
def templateCallback(estop_status):
    print("eStop status is : " + str(estop_status))
    if estop_status == True :
        # executed when you enter estop
        print("MachineMotion is in estop state.")
    elif estop_status == False :
        # executed when you exit estop
        print("MachineMotion is not in estop state.") 
mm.bindeStopEvent(templateCallback)

### ESTOP TRIGGER ###

result = mm.triggerEstop()
if result == True   : print("--> Software stop triggered")
else                : print("--> Failed to trigger software stop")

time.sleep(3.0)

### ESTOP RELEASE ###

result = mm.releaseEstop()
if result == True   : print("--> Software stop released")
else                : print("--> Failed to release software stop")

time.sleep(3.0)

### SYSTEM RESET ###

result = mm.resetSystem()
if result == True   : print("--> System has been reset")
else                : print("--> Failed to reset system")

print("--> Example completed")

• desc Configures a user defined function to execute immediately after an E-stop event.
  • params
    • callback_function
      • type function
      • desc The function to be executed after an e-stop is triggered or released.
  • compatibility MachineMotion v1 and MachineMotion v2.

Example: eStop.py

#!/usr/bin/python
import sys, time
sys.path.append("../..")
from MachineMotion import *

### This Python example showcases how to control eStop on MachineMotion v2. ###

### MachineMotion CONFIGURATION ###

# Create MachineMotion instance
mm = MachineMotionV2()
time.sleep(0.1) # Wait to initialize internal eStop topics.

# Define a callback to process estop status
def templateCallback(estop_status):
    print("eStop status is : " + str(estop_status))
    if estop_status == True :
        # executed when you enter estop
        print("MachineMotion is in estop state.")
    elif estop_status == False :
        # executed when you exit estop
        print("MachineMotion is not in estop state.") 
mm.bindeStopEvent(templateCallback)

### ESTOP TRIGGER ###

result = mm.triggerEstop()
if result == True   : print("--> Software stop triggered")
else                : print("--> Failed to trigger software stop")

time.sleep(3.0)

### ESTOP RELEASE ###

result = mm.releaseEstop()
if result == True   : print("--> Software stop released")
else                : print("--> Failed to release software stop")

time.sleep(3.0)

### SYSTEM RESET ###

result = mm.resetSystem()
if result == True   : print("--> System has been reset")
else                : print("--> Failed to reset system")

print("--> Example completed")

• desc Lock the brake, by shutting off the power of the designated AUX port of the MachineMotion (0V).
  • params
    • aux_port_number
      • type Integer
      • desc The number of the AUX port the brake is connected to.
    • safety_adapter_presence
      • type Boolean
      • desc Is a yellow safety adapter plugged in between the brake cable and the AUX port.
  • compatibility MachineMotion v1 and MachineMotion v2.
  • note This function is compatible only with V1F and more recent MachineMotions.

Example: controlBrakes.py

import sys, time
sys.path.append("../..")
from MachineMotion import *

### This Python example control brakes on MachineMotion v2. ###

mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Define the brake parameters
axis = 1                        # Drive number
safety_adapter_presence = True  # Is a yellow safety adapter plugged in between the brake cable and the brake port
                                # Important Note : This flag must always be set to "True" on MachineMotions v2.

# Read brake state
brake_state = mm.getBrakeState(axis, safety_adapter_presence)
print ("The brake connected to port " + str(axis) + " is : " + brake_state)

# Lock the brake
mm.lockBrake(axis, safety_adapter_presence)
time.sleep(0.2);                # Wait before reading brake state, for it to get correctly updated

# Read brake state
brake_state = mm.getBrakeState(axis, safety_adapter_presence)
print ("The brake connected to port " + str(axis) + " is : " + brake_state)

# DO NOT MOVE WHILE BRAKE IS ENGAGED
print ("Waiting two seconds. Do not move the actuator while the brake is locked !")
time.sleep(2)                   # Unlock the brake after two seconds

# Release the brakes
mm.unlockBrake(axis, safety_adapter_presence)
time.sleep(0.2);                # Wait before reading brake state, for it to get correctly updated

# Read brake state
brake_state = mm.getBrakeState(axis, safety_adapter_presence)
print ("The brake connected to port " + str(axis) + " is : " + brake_state)

• desc Unlock the brake, by powering on the designated AUX port of the MachineMotion (24V).
  • params
    • aux_port_number
      • type Integer
      • desc The number of the AUX port the brake is connected to.
    • safety_adapter_presence
      • type Boolean
      • desc Is a yellow safety adapter plugged in between the brake cable and the AUX port.
  • compatibility MachineMotion v1 and MachineMotion v2.
  • note This function is compatible only with V1F and more recent MachineMotions.

Example: controlBrakes.py

import sys, time
sys.path.append("../..")
from MachineMotion import *

### This Python example control brakes on MachineMotion v2. ###

mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Define the brake parameters
axis = 1                        # Drive number
safety_adapter_presence = True  # Is a yellow safety adapter plugged in between the brake cable and the brake port
                                # Important Note : This flag must always be set to "True" on MachineMotions v2.

# Read brake state
brake_state = mm.getBrakeState(axis, safety_adapter_presence)
print ("The brake connected to port " + str(axis) + " is : " + brake_state)

# Lock the brake
mm.lockBrake(axis, safety_adapter_presence)
time.sleep(0.2);                # Wait before reading brake state, for it to get correctly updated

# Read brake state
brake_state = mm.getBrakeState(axis, safety_adapter_presence)
print ("The brake connected to port " + str(axis) + " is : " + brake_state)

# DO NOT MOVE WHILE BRAKE IS ENGAGED
print ("Waiting two seconds. Do not move the actuator while the brake is locked !")
time.sleep(2)                   # Unlock the brake after two seconds

# Release the brakes
mm.unlockBrake(axis, safety_adapter_presence)
time.sleep(0.2);                # Wait before reading brake state, for it to get correctly updated

# Read brake state
brake_state = mm.getBrakeState(axis, safety_adapter_presence)
print ("The brake connected to port " + str(axis) + " is : " + brake_state)

• desc Read the current state of the brake connected to a given AUX port of the MachineMotion.
  • params
    • aux_port_number
      • type Integer
      • desc The number of the AUX port the brake is connected to.
    • safety_adapter_presence
      • type Boolean
      • desc Is a yellow safety adapter plugged in between the brake cable and the AUX port.
  • returnValue The current state of the brake, as determined according to the current voltage of the AUX port (0V or 24V). The returned String can be “locked”, “unlocked”, or “unknown” (for MachineMotions prior to the V1F hardware version), as defined by the BRAKE_STATES class.
  • returnValueType String
  • compatibility MachineMotion v1 and MachineMotion v2.
  • note This function is compatible only with V1F and more recent MachineMotions.

Example: controlBrakes.py

import sys, time
sys.path.append("../..")
from MachineMotion import *

### This Python example control brakes on MachineMotion v2. ###

mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Define the brake parameters
axis = 1                        # Drive number
safety_adapter_presence = True  # Is a yellow safety adapter plugged in between the brake cable and the brake port
                                # Important Note : This flag must always be set to "True" on MachineMotions v2.

# Read brake state
brake_state = mm.getBrakeState(axis, safety_adapter_presence)
print ("The brake connected to port " + str(axis) + " is : " + brake_state)

# Lock the brake
mm.lockBrake(axis, safety_adapter_presence)
time.sleep(0.2);                # Wait before reading brake state, for it to get correctly updated

# Read brake state
brake_state = mm.getBrakeState(axis, safety_adapter_presence)
print ("The brake connected to port " + str(axis) + " is : " + brake_state)

# DO NOT MOVE WHILE BRAKE IS ENGAGED
print ("Waiting two seconds. Do not move the actuator while the brake is locked !")
time.sleep(2)                   # Unlock the brake after two seconds

# Release the brakes
mm.unlockBrake(axis, safety_adapter_presence)
time.sleep(0.2);                # Wait before reading brake state, for it to get correctly updated

# Read brake state
brake_state = mm.getBrakeState(axis, safety_adapter_presence)
print ("The brake connected to port " + str(axis) + " is : " + brake_state)

• desc Sets the global speed for all movement commands on all axes.
• params
  • speed
    • desc The global max speed in mm/s, or mm/min according to the units parameter.
    • type Number
  • units
    • desc Units for speed. Can be switched to UNITS_SPEED.mm_per_min
    • defaultValue UNITS_SPEED.mm_per_sec
    • type String
• compatibility MachineMotion v1 and MachineMotion v2.

• desc Sets the global acceleration for all movement commands on all axes.
• params
  • mm_per_sec_sqr
    • desc The global acceleration in mm/s^2.
    • type Number
  • units
    • desc Units for speed. Can be switched to UNITS_ACCEL.mm_per_min_sqr
    • defaultValue UNITS_ACCEL.mm_per_sec_sqr
    • type String
• compatibility MachineMotion v1 and MachineMotion v2.

MMv1 = 1
MMv2 = 2
MMv2OneDrive = 3

POSITIVE = "positive"
NEGATIVE = "negative"
NORMAL = POSITIVE
REVERSE = NEGATIVE
CLOCKWISE = POSITIVE
COUNTERCLOCKWISE = NEGATIVE

DRIVE1 = 1
DRIVE2 = 2
DRIVE3 = 3
DRIVE4 = 4

mm_per_min = "mm per minute"
mm_per_sec =  "mm per second"

mm_per_min_sqr = "mm per minute"
mm_per_sec_sqr =  "mm per second"

usb_windows     = "192.168.7.2"
usb_mac_linux   = "192.168.7.2"
ethernet        = "192.168.0.2"
localhost       = "127.0.0.1"

ustep_full  = 1
ustep_2     = 2
ustep_4     = 4
ustep_8     = 8
ustep_16    = 16
ustep_32    = 32

timing_belt_150mm_turn          = 150
legacy_timing_belt_200_mm_turn  = 200
enclosed_timing_belt_mm_turn    = 208
ballscrew_10mm_turn             = 10
enclosed_ballscrew_16mm_turn    = 16
legacy_ballscrew_5_mm_turn      = 5
indexer_deg_turn                = 85
indexer_v2_deg_turn             = 36
roller_conveyor_mm_turn         = 157.7
belt_conveyor_mm_turn           = 73.563
rack_pinion_mm_turn             = 157.08
rack_pinion_v2_mm_turn          = 141.37
electric_cylinder_mm_turn       = 6
belt_rack_mm_turn               = 125
enclosed_lead_screw_mm_turn     = 4
hd_roller_conveyor_mm_turn      = 123.3

steps_per_turn      = 200

aux_1 = 0
aux_2 = 1
aux_3 = 2
aux_4 = 3

real_time = "realtime-position"
stable    = "stable-position"

locked   = "locked"
unlocked = "unlocked"
unknown  = "unknown"

PRESENT = 'present'
NONE = 'none'

DEFAULT = "default"
CONVEYOR_TURNTABLE = "conveyor_turntable"

OPEN_LOOP   = "open"
CLOSED_LOOP = "closed"

ON  = "on"
OFF = "off"

BLACK = 0
WHITE = 1

PUSHED   = "pushed"
RELEASED = "released"

SMALL               = "Small Servo"
MEDIUM              = "Medium Servo"
LARGE               = "Large Servo"
ELECTRIC_CYLINDER   = "Nema 17 Stepper"

TIMEOUT = 10.0

ESTOP = "estop"
ESTOP_STATUS = ESTOP + "/status"
ESTOP_TRIGGER_REQUEST = ESTOP + "/trigger/request"
ESTOP_TRIGGER_RESPONSE = ESTOP + "/trigger/response"
ESTOP_RELEASE_REQUEST = ESTOP + "/release/request"
ESTOP_RELEASE_RESPONSE = ESTOP + "/release/response"
ESTOP_SYSTEMRESET_REQUEST = ESTOP + "/systemreset/request"
ESTOP_SYSTEMRESET_RESPONSE = ESTOP + "/systemreset/response"
AUX_PORT_POWER = "aux_power"
AUX_PORT_SAFETY = "aux_safety_power"
SMARTDRIVES_READY = "smartDrives/areReady"

SIGNAL0 = "SIGNAL0"
SIGNAL1 = "SIGNAL1"
SIGNAL2 = "SIGNAL2"
SIGNAL3 = "SIGNAL3"
SIGNAL4 = "SIGNAL4"
SIGNAL5 = "SIGNAL5"
SIGNAL6 = "SIGNAL6"

IO_EXPANDER_GENERIC = "IO_EXPANDER_GENERIC"
ENCODER             = "ENCODER"

SENSOR4 = "SENSOR4"
SENSOR5 = "SENSOR5"
SENSOR6 = "SENSOR6"

static  = "static"
dhcp    = "dhcp"

#!/usr/bin/python
import sys, time
sys.path.append("../..")
from MachineMotion import *

### This Python example showcases continuous moves with MachineMotion v2. ###

# Create MachineMotion instance
mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Configure actuator
conveyor_axis = 1
mm.configServo(conveyor_axis, MECH_GAIN.roller_conveyor_mm_turn, DIRECTION.NORMAL, 10.0, motorSize=MOTOR_SIZE.LARGE)

# Note: on MachineMotion software version 2.4.0 and newer, continuous moves are limited by the axis max speed and acceleration.
# Please see the section below for more details.

### CONTINUOUS MOVES ###
# Start the continuous move
print("Start Conveyor Move...")
print("Continuous move: speed 100mm/s & acceleration 100mm/s^2")
mm.moveContinuous(conveyor_axis, 100, 100)
time.sleep(5)

# Change speed while moving 
print("Continuous move: speed 500mm/s & acceleration 250mm/s^2")
mm.moveContinuous(conveyor_axis, 500, 250)
time.sleep(5)

# Reverse direction of conveyor by changing the sign of the speed
print("Reverse continuous move: speed -1000mm/s & acceleration 500mm/s^2")
mm.moveContinuous(conveyor_axis, -1000, 500)
time.sleep(5)

# Or pass in the optional direction argument
print("Reverse continuous move: speed -500mm/s & acceleration 500mm/s^2")
mm.moveContinuous(conveyor_axis, 500, 500, direction=DIRECTION.NEGATIVE)
time.sleep(5)

# Stop the continuous move
print("Stop Conveyor Move: acceleration 500mm/s^2")
mm.stopMoveContinuous(conveyor_axis, 500)
time.sleep(3)

# # For MachineMotion Software version >= 2.4.0 only:

# # Setting the axis max speed and acceleration will limit continuous moves:
# mm.setAxisMaxSpeed(conveyor_axis, 1000)
# mm.setAxisMaxAcceleration(conveyor_axis, 1000)

# # Start the continuous move at max speed and acceleration
# mm.moveContinuous(conveyor_axis)
# time.sleep(5)

# # Slow down conveyor
# mm.setAxisMaxSpeed(conveyor_axis, 500)
# time.sleep(5)

# # Reverse direction of conveyor
# mm.moveContinuous(conveyor_axis, direction=DIRECTION.NEGATIVE)
# time.sleep(5)

# # Stop the continuous move
# mm.stopMoveContinuous(conveyor_axis)
# time.sleep(5)

print("--> Example completed")

import sys, time
sys.path.append("../..")
from MachineMotion import *

### This Python example showcases how to read actuator positions with MachineMotion v2. ###

###### CONFIGURING MACHINEMOTION ######

mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Configure actuator
axis = 1
print("--> Configuring actuator")
mm.configServo(axis, MECH_GAIN.rack_pinion_mm_turn, DIRECTION.POSITIVE, 10.0, motorSize=MOTOR_SIZE.LARGE)

# Home Axis Before Moving
print("--> Axis " + str(axis) + " moving home")
mm.moveToHome(axis)
mm.waitForMotionCompletion()
print("--> Axis " + str(axis) + " homed")


###### READ POSITIONS ######

# Read the position of one axis
print("--> Read the position of one axis")
actualPosition_axis  = mm.getActualPositions(axis)
print("Actual position of axis " + str(axis) + " is : " + str(actualPosition_axis) + " mm.")

# Read the position of several axes
print("--> Read the position of several axes")
actualPositions  = mm.getActualPositions()
print("Actual position of axis 1 is : " + str(actualPositions[1]) + " mm.")
print("Actual position of axis 2 is : " + str(actualPositions[2]) + " mm.")
print("Actual position of axis 3 is : " + str(actualPositions[3]) + " mm.")
print("Actual position of axis 4 is : " + str(actualPositions[4]) + " mm.")

###### MOVE AND READ POSITIONS ######

# Define Motion Parameters
distance = 100

# Move 100mm and check position again
mm.moveRelative(axis, distance)
print("--> Move ongoing")
while not mm.isMotionCompleted():
    actualPosition_axis  = mm.getActualPositions(axis)
    print("Actual position of axis " + str(axis) + " is : " + str(actualPosition_axis) + " mm.")

mm.waitForMotionCompletion()
print("--> Move completed")
actualPosition_axis  = mm.getActualPositions(axis)
print("Actual position of axis " + str(axis) + " is : " + str(actualPosition_axis) + " mm.")

print("--> End of example")

import sys
sys.path.append("../..")
from MachineMotion import *

### This Python example showcases how to read enstop sensor states with MachineMotion v2. ###

mm = MachineMotionV2()

# When starting a program, one must remove the software stop
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Get End Stop State
endstopStates = mm.getEndStopState()
# If the direction of the axis is normal, 
#   then the home sensor is the "_min" sensor, and the end sensor is the "_max" sensor.
# If the direction of the axis reversed, 
#   then the home sensor is the "_max" sensor, and the end sensor is the "_min" sensor.
axis1_home_sensor_status      = endstopStates['x_min']
axis1_endstop_sensor_status   = endstopStates['x_max']
axis2_home_sensor_status      = endstopStates['y_min']
axis2_endstop_sensor_status   = endstopStates['y_max']
axis3_home_sensor_status      = endstopStates['z_min']
axis3_endstop_sensor_status   = endstopStates['z_max']
axis4_home_sensor_status      = endstopStates['w_min']
axis4_endstop_sensor_status   = endstopStates['w_max']

print("Axis 1 : " + "Home sensor is : " + str(axis1_home_sensor_status) )
print("Axis 1 : " + "End sensor is : " + str(axis1_endstop_sensor_status) )
print("Axis 2 : " + "Home sensor is : " + str(axis2_home_sensor_status) )
print("Axis 2 : " + "End sensor is : " + str(axis2_endstop_sensor_status) )
print("Axis 3 : " + "Home sensor is : " + str(axis3_home_sensor_status) )
print("Axis 3 : " + "End sensor is : " + str(axis3_endstop_sensor_status) )
print("Axis 4 : " + "Home sensor is : " + str(axis4_home_sensor_status) )
print("Axis 4 : " + "End sensor is : " + str(axis4_endstop_sensor_status) )

import sys, time
sys.path.append("../..")
from MachineMotion import *

### This Python example showcases how to stop motion on MachineMotion v2. ###

mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Configure the actuator
axis = 1
mm.configServo(axis, MECH_GAIN.timing_belt_150mm_turn, DIRECTION.NORMAL, 10.0, motorSize=MOTOR_SIZE.LARGE)

# Begin Relative Move
distance = 1000
mm.moveRelative(axis, distance)
print("Axis " + str(axis) + " is moving " + str(distance) + "mm")
# This move should take 5 seconds to complete (distance/speed). Instead, we wait 2 seconds and then stop the machine.
time.sleep(2)
mm.stopAllMotion()
print("Axis " + str(axis) + " stopped.")

#!/usr/bin/python
import time
from MachineMotion import *

### IMPORTANT: This example file is compatible with MachineMotion Software version 2.4.0 or newer. ###

### This Python example configures and moves an independent axis.
### The individual axis speed and acceleration are set, 
### then motion on the axis is selectively started, stopped and monitored

mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Configure the axis
axis = 1
mm.configServo(axis, MECH_GAIN.timing_belt_150mm_turn, DIRECTION.NORMAL, 10.0, motorSize=MOTOR_SIZE.LARGE)

# Move, stop and monitor the axis
axisSpeed = 50          # mm/s
axisAcceleration = 50   # mm/s^2
distance = 250          # mm

print(
    'Configuring axis: ', axis,
    ' speed: ', axisSpeed, 'mm/s',
    ' acceleration: ', axisAcceleration, 'mm/s^2'
)
mm.setAxisMaxSpeed(axis, axisSpeed)
mm.setAxisMaxAcceleration(axis, axisAcceleration)

print('Relative move: ', distance, 'mm')
mm.moveRelative(axis,distance)

axisMotionCompleted = mm.isMotionCompleted(axis)
if axisMotionCompleted :
    print ('Axis ', axis, ' is NOT currently moving.')
else :
    print ('Axis ', axis, ' is currently moving.')

time.sleep(3)

print('Stopping just axis: ', axis)
mm.stopAxis(axis)

time.sleep(3)

print('Moving and waiting for axis: ', axis)
mm.moveToPosition(axis,distance)
mm.waitForMotionCompletion(axis)

print('Done!')

import sys
sys.path.append("../..")
from MachineMotion import *

### This Python example showcases how to home actuators with MachineMotion v2. ###

### MachineMotion configuration ###

mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

### Home all axes simultaneously
print ("All axes moving home simultaneously")
mm.moveToHomeAll()
mm.waitForMotionCompletion()
print("All axes homed")

import sys
sys.path.append("../..")
from MachineMotion import *

### This Python example showcases how to home actuators with MachineMotion v2. ###

mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Configure the actuator
axis = AXIS_NUMBER.DRIVE1
mm.configServo(axis, MECH_GAIN.timing_belt_150mm_turn, DIRECTION.NORMAL, 10.0, motorSize=MOTOR_SIZE.LARGE)

# Home the actuator
print ("Axis "+ str(axis) +" is going home")
mm.moveToHome(axis)
mm.waitForMotionCompletion()
print("Axis "+ str(axis) +" is at home")

#!/usr/bin/python

from MachineMotion import *

### IMPORTANT: This example file is compatible with MachineMotion Software version 2.4.0 or newer. ###

### speedAndAcceleration.py
# This example shows how to change the configured max speed and max acceleration for an axis,
# as well as how to retrieve the configured max speed, max acceleration and actual speed of a specific axis.

mm = MachineMotionV2()

axis        = AXIS_NUMBER.DRIVE1

maxSpeedAxis        = 50   # mm/s
maxAccelerationAxis = 150  # mm/s^2

# Setting speeds and accelerations

print('Setting max speed for axis ', axis, ': ', maxSpeedAxis, "mm/s")
mm.setAxisMaxSpeed(axis, maxSpeedAxis)
print('Setting max acceleration for axis ', axis, ': ', maxAccelerationAxis, "mm/s^2")
mm.setAxisMaxAcceleration(axis, maxAccelerationAxis)

# Getting speeds and accelerations

print('Getting speeds and accelerations...')

maxSpeed = mm.getAxisMaxSpeed(axis)
maxAccel = mm.getAxisMaxAcceleration(axis)
print('For axis ', axis, ' retrieved max speed: ', maxSpeed, 'mm/s, max acceleration: ', maxAccel, 'mm/s^2')

actualSpeed = mm.getActualSpeeds(axis)
print('For axis ', axis, ' retrieved actual speed: ', actualSpeed, 'mm/s') # The value should be 0 as the axis is not moving.

print("Getting actual speeds for all axes, in mm/s:")
actualSpeeds = mm.getActualSpeeds()
print(actualSpeeds) # The values should be 0 as the axes are not moving.

print('Done!')

import sys
sys.path.append("../..")
from MachineMotion import *

### This Python example showcases moveToPosition with MachineMotion v2. ###

mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Axis configuration
axis = 1             #The axis that you'd like to move
mm.configServo(axis, MECH_GAIN.timing_belt_150mm_turn, DIRECTION.NORMAL, 10.0, motorSize=MOTOR_SIZE.LARGE)

# Movement configuration
position = 100       # The absolute position to which you'd like to move

# Home Axis before move to position
print("Axis " + str(axis) + " is going home.")
mm.moveToHome(axis)
mm.waitForMotionCompletion()
print("Axis " + str(axis) + " homed.")

# Move
mm.moveToPosition(axis, position)
print("Axis " + str(axis) + " is moving towards position " + str(position) + "mm")
mm.waitForMotionCompletion()
print("Axis " + str(axis) + " is at position " + str(position) + "mm")

import sys
sys.path.append("../..")
from MachineMotion import *

### This Python example showcases combined absolute moves with MachineMotion v2. ###

mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Configure actuators
axesToMove = [1,2,3]
for axis in axesToMove:
    mm.configServo(axis, MECH_GAIN.timing_belt_150mm_turn, DIRECTION.NORMAL, 10.0, motorSize=MOTOR_SIZE.LARGE)

# Home actuators before performing absolute moves
print("Axes Moving Home Sequentially")
for axis in axesToMove:
    mm.moveToHome(axis)
    mm.waitForMotionCompletion()
print("Axes homed")

# Simultaneously moves three axis:
#   Moves axis 1 to absolute position 50mm
#   Moves axis 2 to absolute position 100mm
#   Moves axis 3 to absolute position 50mm
positions = [50, 100, 50]
mm.moveToPositionCombined(axesToMove, positions)
mm.waitForMotionCompletion()
for index, axis in enumerate(axesToMove):
    print("Axis " + str(axis) + " moved to position " + str(positions[index]) + "mm")

import sys
sys.path.append("../..")
from MachineMotion import *

### This Python example showcases relative moves with MachineMotion v2. ###

mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Configure the actuator
axis = 1
mm.configServo(axis, MECH_GAIN.timing_belt_150mm_turn, DIRECTION.NORMAL, 10.0, motorSize=MOTOR_SIZE.LARGE)

# Begin Relative Move
distance = 100 # in mm
mm.moveRelative(axis, distance)
mm.waitForMotionCompletion()
print("--> Axis " + str(axis) + " moved " + str(distance) + "mm")

# Pass a negative distance value to move in the opposite direction
distance = -100 # in mm
mm.moveRelative(axis, distance)
mm.waitForMotionCompletion()
print("--> Axis " + str(axis) + " moved " + str(distance) + "mm")

print("--> Example Complete")

import sys
sys.path.append("../..")
from MachineMotion import *

### This Python example showcases combined relative moves with MachineMotion v1. ###

mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Configure actuators
axesToMove = [1,2,3]
for axis in axesToMove:
    mm.configServo(axis, MECH_GAIN.timing_belt_150mm_turn, DIRECTION.NORMAL, 10.0, motorSize=MOTOR_SIZE.LARGE)

# Simultaneously moves three axis:
#   Move axis 1 in the positive direction by 50 mm
#   Move axis 2 in the negative direction by 100 mm
#   Move axis 3 in the positive direction by 50 mm
distances = [50, 100, 50]
mm.moveRelativeCombined(axesToMove, distances)
mm.waitForMotionCompletion()
for index, axis in enumerate(axesToMove):
    print("Axis " + str(axis) + " moved " + str(distances[index]) + "mm")

import sys, time
sys.path.append("../..")
from MachineMotion import *

### This Python example showcases how to set actuator position with MachineMotion v2. ###

mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Configure the actuator
axis = 1
mm.configServo(axis, MECH_GAIN.timing_belt_150mm_turn, DIRECTION.NORMAL, 10.0, motorSize=MOTOR_SIZE.LARGE)

# Home the actuator
print("Axis " + str(axis) + " will home")
mm.moveToHome(axis)
mm.waitForMotionCompletion()
print("Axis " + str(axis) + " homed")

### Perform asolute moves with different reference points ###

print("Absolute Moves are referenced from home")
position = 100
mm.moveToPosition(axis, position)
mm.waitForMotionCompletion()
print("Axis " + str(axis) + " is " + str(position) + "mm away from home.")

# Change the reference point to the current position
mm.setPosition(axis, 0)
print("Absolute moves on axis " + str(axis) + " are now referenced from " +  str(position) + "mm from home. ")
time.sleep(2)

# Move again
position2 = 30
print("Now moving to absolute position " + str(position2) + " mm, referenced from location 'setPosition' was called")
mm.moveToPosition(axis, position2)
mm.waitForMotionCompletion()
print("Axis " + str(axis) + " is now " + str(position2) + "mm from reference position and " + str(position + position2) + "mm from home")

import sys
sys.path.append("../..")
from MachineMotion import *

### This Python example showcases how to wait for actuator motion completion on MachineMotion v2. ###

mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Configure the actuator
axis = 1
mm.configServo(axis, MECH_GAIN.timing_belt_150mm_turn, DIRECTION.NORMAL, 10.0, motorSize=MOTOR_SIZE.LARGE)

# Move the axis by 100mm
distance = 100

print("Moving %d mm!"  % distance)
mm.moveRelative(axis, distance)
print("This message gets printed immediately")
mm.waitForMotionCompletion()
print("This message gets printed once machine has finished moving")

import sys
sys.path.append("../..")
from MachineMotion import *

### This Python example configures homing speed for MachineMotion v2. ###

mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

### Configuring ###

axes = [1,2]
homingSpeeds = [50,100] # The homing speeds to set for each axis, in mm/s

mm.configServo(1, MECH_GAIN.timing_belt_150mm_turn, DIRECTION.NORMAL, 10.0, motorSize=MOTOR_SIZE.LARGE)
mm.configServo(2, MECH_GAIN.timing_belt_150mm_turn, DIRECTION.NORMAL, 10.0, motorSize=MOTOR_SIZE.LARGE)
mm.configHomingSpeed(axes, homingSpeeds)    # Sets homing speeds for all selected axes.

### Testing the configuration ###

axis = 1    # The axis to move

print("Moving axis " + str(axis) + " by 100mm.")
mm.moveRelative(axis, 100)
mm.waitForMotionCompletion()

#Homes the axis at the newly configured homing speed.
print("Homing axis " + str(axis))

mm.moveToHome(axis)
mm.waitForMotionCompletion()

import sys
sys.path.append("../..")
from MachineMotion import *

### This Python example configures actuators for a MachineMotion v2. ###

mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Configure a timing belt actuator in servo mode, on drive 1
drive = 1
mechGain = MECH_GAIN.timing_belt_150mm_turn
direction = DIRECTION.NORMAL
motorCurrent = 10.0 # Amperes
mm.configServo( drive,
                mechGain,
                direction,
                motorCurrent,
                tuningProfile=TUNING_PROFILES.DEFAULT,
                motorSize=MOTOR_SIZE.LARGE,
                brake=BRAKE.PRESENT)

# Configure an electric cylinder actuator in stepper mode, on drive 2
drive = 2
mechGain = MECH_GAIN.electric_cylinder_mm_turn
direction = DIRECTION.NORMAL
motorCurrent = 1.6 # Amperes
mm.configStepper( drive,
                  mechGain,
                  direction,
                  motorCurrent,
                  microSteps = MICRO_STEPS.ustep_4,
                  motorSize=MOTOR_SIZE.ELECTRIC_CYLINDER)

import sys
sys.path.append("../..")
from MachineMotion import *

### This Python example configures and moves a multi-drive axis. ###

### Multiple motors that are mechanically linked can now be treated
### as though they are a single axis. Once propely configured,
### multi-drive axes can be moved just as with single-drive axes.

### Machine Motion declaration
mm = MachineMotionV2()

### If not on a conveyor, the parent drive must have home and end sensors.
### The child drive's sensors will be ignored.
parent = 1
parentDirection = DIRECTION.NORMAL
child = 2
childDirection = DIRECTION.NORMAL

mechGain = MECH_GAIN.timing_belt_150mm_turn
motorCurrent = 10.0 # Current (A)

print("--> Configuring parent drive " + str(parent) + " with child " + str(child))

### Configure your multi-drive axis by passing the list of drives, directions and parent drive.
mm.configServo([parent, child], mechGain, [parentDirection, childDirection], motorCurrent, parentDrive = parent, motorSize=MOTOR_SIZE.LARGE)

### The parent and child drives are now linked.
### Control the multi-drive axis via the parent drive:

print("--> Multi-drive axis is moving relative by 200mm!")
mm.moveRelative(parent, 200)
mm.waitForMotionCompletion()

print("--> Example Complete!")

import sys
sys.path.append("../..")
from MachineMotion import *

### This Python example reads digital inputs for MachineMotion v2. ###

mm = MachineMotionV2()

# Detect all connected digital IO Modules
detectedIOModules = mm.detectIOModules()

# Read and print all input values
if detectedIOModules is not None :
   for IO_Name, IO_NetworkID in detectedIOModules.items():
      readPins = [0, 1, 2, 3]
      for readPin in readPins:
          pinValue = mm.digitalRead(IO_NetworkID, readPin)
          print("Pin " + str(readPin) + " on " + IO_Name + " has value " + str(pinValue))

import sys, time
sys.path.append("../..")
from MachineMotion import *

### This Python example writes digital outputs for MachineMotion v2. ###

mm = MachineMotionV2()

# Detect all connected digital IO Modules
detectedIOModules = mm.detectIOModules()

# Toggles the output pins
if detectedIOModules is not None :
    for IO_Name, IO_NetworkID in detectedIOModules.items():
        writePins = [0, 1, 2, 3]
        for writePin in writePins :
            print("Pin " + str(writePin) + " on " + IO_Name + " is going to flash twice")

            mm.digitalWrite(IO_NetworkID, writePin, 1)
            time.sleep(1)
            mm.digitalWrite(IO_NetworkID, writePin, 0)
            time.sleep(1)
            mm.digitalWrite(IO_NetworkID, writePin, 1)
            time.sleep(1)
            mm.digitalWrite(IO_NetworkID, writePin, 0)
            time.sleep(1)

import sys
import time
sys.path.append("../..")
from MachineMotion import *

### This Python example control a power switch module on MachineMotion v2. ###

mm = MachineMotionV2()

deviceNetworkId = 7

### Set the power switch
print("--> Turning power switch on")
mm.setPowerSwitch(deviceNetworkId, POWER_SWITCH.ON)
time.sleep(3)
print("--> Turning power switch off")
mm.setPowerSwitch(deviceNetworkId, POWER_SWITCH.OFF)
time.sleep(3)

print("--> Example Complete")

import sys
import time
sys.path.append("../..")
from MachineMotion import *

### This Python example showcases different uses for a push button module on MachineMotion v2. ###
mm = MachineMotionV2()

### Define the module and button you would like to monitor.
deviceNetworkId = 5
blackButton = PUSH_BUTTON.COLOR.BLACK
whiteButton = PUSH_BUTTON.COLOR.WHITE

### Block the script until a button is pushed:
print("--> Waiting 5 seconds for the white button to be pushed!")
buttonWasPushed = mm.waitOnPushButton(deviceNetworkId, whiteButton, PUSH_BUTTON.STATE.PUSHED, 5)
if buttonWasPushed:
    print("--> White button was pushed!")
else:
    print("--> waitOnPushButton timed out!")
    
time.sleep(1)

### Manually read the state of a push button
buttonState = mm.readPushButton(deviceNetworkId, whiteButton)
print("--> Reading from white push button: " + buttonState)
time.sleep(2)

### Define a callback to process push button status
def templateCallback(button_state):
    print("--> templateCallback: Black push button on module: " + str(deviceNetworkId) + " has changed state.")      
    if button_state == PUSH_BUTTON.STATE.PUSHED :      
        print("--> Black push button has been pushed.")
    elif button_state == PUSH_BUTTON.STATE.RELEASED :
        print("--> Black push button has been released.")

###  You must first bind the callback function!
mm.bindPushButtonEvent(deviceNetworkId, blackButton, templateCallback)

print("--> Push the black button to trigger event! Press ctrl-c to exit")

while True:
    time.sleep(0.5)

#!/usr/bin/python
import sys, time
sys.path.append("../..")
from MachineMotion import *

### This Python example showcases how to control eStop on MachineMotion v2. ###

### MachineMotion CONFIGURATION ###

# Create MachineMotion instance
mm = MachineMotionV2()
time.sleep(0.1) # Wait to initialize internal eStop topics.

# Define a callback to process estop status
def templateCallback(estop_status):
    print("eStop status is : " + str(estop_status))
    if estop_status == True :
        # executed when you enter estop
        print("MachineMotion is in estop state.")
    elif estop_status == False :
        # executed when you exit estop
        print("MachineMotion is not in estop state.") 
mm.bindeStopEvent(templateCallback)

### ESTOP TRIGGER ###

result = mm.triggerEstop()
if result == True   : print("--> Software stop triggered")
else                : print("--> Failed to trigger software stop")

time.sleep(3.0)

### ESTOP RELEASE ###

result = mm.releaseEstop()
if result == True   : print("--> Software stop released")
else                : print("--> Failed to release software stop")

time.sleep(3.0)

### SYSTEM RESET ###

result = mm.resetSystem()
if result == True   : print("--> System has been reset")
else                : print("--> Failed to reset system")

print("--> Example completed")

import sys, time
sys.path.append("../..")
from MachineMotion import *

### This Python example control brakes on MachineMotion v2. ###

mm = MachineMotionV2()

# When starting a program, one must remove the software stop before moving
print("--> Removing software stop")
mm.releaseEstop()
print("--> Resetting system")
mm.resetSystem()

# Define the brake parameters
axis = 1                        # Drive number
safety_adapter_presence = True  # Is a yellow safety adapter plugged in between the brake cable and the brake port
                                # Important Note : This flag must always be set to "True" on MachineMotions v2.

# Read brake state
brake_state = mm.getBrakeState(axis, safety_adapter_presence)
print ("The brake connected to port " + str(axis) + " is : " + brake_state)

# Lock the brake
mm.lockBrake(axis, safety_adapter_presence)
time.sleep(0.2);                # Wait before reading brake state, for it to get correctly updated

# Read brake state
brake_state = mm.getBrakeState(axis, safety_adapter_presence)
print ("The brake connected to port " + str(axis) + " is : " + brake_state)

# DO NOT MOVE WHILE BRAKE IS ENGAGED
print ("Waiting two seconds. Do not move the actuator while the brake is locked !")
time.sleep(2)                   # Unlock the brake after two seconds

# Release the brakes
mm.unlockBrake(axis, safety_adapter_presence)
time.sleep(0.2);                # Wait before reading brake state, for it to get correctly updated

# Read brake state
brake_state = mm.getBrakeState(axis, safety_adapter_presence)
print ("The brake connected to port " + str(axis) + " is : " + brake_state)