|
Application Programming Interface: Low-Level Sockets for MachineMotion SW V2.3.0
Overview
This document details the commands that can be sent to your MachineMotion V2 using Ethernet TCP/IP protocol. It is supported on MachineMotion software version v2.3.0 This API uses sockets to exchange data. All information is packaged in string format and sent over the socket communication channel to port 9999 of the ethernet IP Address.
For details on previous releases of Vention’s Low-Level Socket Programming Interface with MachineMotion 2 and MachineMotion 1, refer to the ‘Documentation for Previous Releases’ section at the end of this document.
Configuring An IP Address
There are three physical ethernet connections available on the MachineMotion V2. The default ethernet port (labeled “To PC”) will always have an IP address of 192.168.7.2. The second and third ethernet ports (labeled “LAN 1” and “LAN 2”) may have a user configurable IP address. The configurable IP address can be set in one of three ways:
Using a laptop and chrome web browser, navigate to 192.168.7.2, select the network configuration tab and enter the desired IP address.
Using a laptop and the low level socket API, send the “ethernet configuration commands” to set the desired static IP commands.
Use a pendant to connect to the Machine Motion control center, select the network configuration tab and enter the desired IP address.
Opening a Connection
A connection must be opened before any commands can be sent or received from the MachineMotion V2 ethernet port. How to open a connection will depend on the programming language being used. Once the connection is open, the MachineMotion V2 will respond with “MachineMotion connection established”. It is recommended the first command sent is isReady to confirm a properly established connection.
User Agent | Direction | MachineMotion |
|---|---|---|
Initialize TCP Connection | → | Accept |
Receive | ← | Send: |
Send: | → | Receive |
Receive | ← | Send: |
Commands Reference
Continuous Move
Description
Moves a conveyor or rotary table axis continuously at a given speed and acceleration. This command is only available with MachineMotion software v1.16 and newer.
Format
SET im_conv_<axis> S<speed> A<acceleration>; Where <axis> is the axis (1, 2, 3 or 4) to move as a (String). Where <speed> is the speed to move the axis in mm/sec as a (String). Where <acceleration> is the acceleration to move the axis in mm/sec^2 as a (String).
Usage
SET im_conv_3 S100 A400; Starts moving axis 3 at 100 mm/sec with an acceleration of 400 mm/sec^2. SET im_conv_3 S0 A400; Stops axis 3 using 400 mm/sec^2 deceleration.
Response on Receive
Ack
Delayed Absolute Move
Description
Moves an axis to the specified absolute position after the de_move_abs_exec command is sent.
Format
SET de_move_abs_<axis>/<value>/; Where <axis> is the axis to move (1, 2 or 3) as a (String). Where <value> (String) is a position in mm.
Usage
SET de_move_abs_1/50/ Will move axis 1 to absolute position 50mm after the de_move_abs_exec command is sent. SET de_move_abs_2/150/; Will move axis 2 to absolute position 150mm after the de_move_abs_exec command is sent. SET de_move_abs_3/175/ Will move axis 3 to absolute position 175mm after the de_move_abs_exec command is sent.
Response on Receive
Ack
Delayed Absolute Move Execute
Description
Executes the latest de_move_abs_1, de_move_abs_2 and de_move_abs_3 commands simultaneously.
Format
de_move_abs_exec;
Usage
de_move_abs_exec;
Response on Receive
Ack
Delayed Relative Move
Description
Move an axis relative to the its current position by the distance specified in the distance parameter after the command de_move_abs_exec is sent.
Format
SET de_move_rel_<axis>/<value>/; Where <axis> is the axis to move (1, 2 or 3) as a (String). Where <value> (String<!--<mark-->) is a position change in mm.
Usage
SET de_move_rel_1/-50/; Will move axis 1, 50 mm in the negative direction after the de_move_rel_exec command is sent. SET de_move_rel_2/100/; Will move axis 2, 100 mm in the positive direction after the de_move_rel_exec command is sent. SET de_move_rel_3/-75/; Will move axis 3, 75 mm in the negative direction after the de_move_rel_exec command is sent.
Response on Receive
Ack
Delayed Relative Move Execute
Description
Executes the latest de_move_rel_1, de_move_rel_2 and de_move_rel_3 commands simultaneously.
Format
de_move_rel_exec;
Usage
de_move_rel_exec;
Response on Receive
Ack
Get Position
Description
Queries the current position of an axis.
Format
GET im_get_controller_pos_axis_<axis>; Where <axis> is the axis to get position from (1, 2 or 3) as a (String)
Usage
GET im_get_controller_pos_axis_1 Returns position of axis 1. GET im_get_controller_pos_axis_2 Returns position of axis 2. GET im_get_controller_pos_axis_3 Returns position of axis 3.
Response On Complete
(<> Where is the position in mm units. is="" the="" position="" in="" mm=""> is the position in mm units.>
Immediate Absolute Move
Description
Moves an axis to the specified absolute position.
Format
SET im_move_abs_<axis>/<value>/; Where <axis> is the axis to move (1, 2 or 3) as a (String). Where <value> (String) is a position in mm.
Usage
SET im_move_abs_1/50/; Immediately Moves axis 1 to absolute position 50mm SET im_move_abs_2/100/; Immediately Moves axis 2 to absolute position 100mm SET im_move_abs_3/200/; Immediately Moves axis 3 to absolute position 200mm
Response on Receive
Ack
Immediate Home All
Description
Returns all axes to their home locations sequentially: first axis 1, then axis 2, then axis 3.
Format
im_home_axis_all;
Usage
im_home_axis_all;
Response On Complete
MachineMotion im_home_axis_all = completed
Immediate Home Axis
Description
Returns an axis to its home location.
Format
im_home_axis_<axis>; Where <axis> is the axis to home (1, 2 or 3) as a (String)
Usage
im_home_axis_1; Immediately Homes axis 1 im_home_axis_2; Immediately Homes axis 2 im_home_axis_3; Immediately Homes axis 3.
Response On Complete
MachineMotion im_home_axis_<axis> = completed Where <axis> is the axis requested to home.
Immediate Relative Move
Description
Immediately moves an axis by the distance specified relative to the current location of the axis. The distance parameter can be negative.
Format
SET im_move_rel_<axis>/<value>/; Where <axis> is the axis to move (1, 2 or 3) as a (String) Where <value> is a position value in mm as a (String)
Usage
SET im_move_rel_1/50/; Immediately Moves axis 1, 50mm in the positive direction from its current position. SET im_move_rel_2/-100/; Immediately Moves axis 2, 100mm in the negative direction from its current position. SET im_move_rel_3/200/; Immediately Moves axis 3, 200mm in the positive direction from its current position.
Response on Receive
Ack
Immediate Stop
Description
Immediately stops motion on all axes.
Format
im_stop;
Usage
im_stop;
Response On Complete
MachineMotion im_stop = complete
is Motion Completed
Description
Queries MachineMotion to determine if motion is currently being executed. This function is useful for waiting for the completion of a movement.
Format
isMotionCompleted;
Usage
isMotionCompleted;
Response on Receive
MachineMotion isMotionCompleted = true or MachineMotion isMotionCompleted = false
is Ready
Description
Queries MachineMotion to know if it is ready to receive commands. This function indicates if the MachineMotion system is initialized and ready for operation after a connection event.
Format
isReady;
Usage
isReady;
Response on Receive
MachineMotion is Ready = true
Move to Closest Angle
Description
Moves a rotary table axis to a given angle without making a full rotation. This makes it easier to move the axis after multiple full rotations. The axis will take the shortest path to the new position. This command is only available with MachineMotion software v1.16 and newer.
Format
moveToClosestAngle/<axis>/<position>/request; Where <axis> is the axis (1, 2 or 3) to move as a (String). Where <position> is the angle command in degrees as a (String).
Usage
moveToClosestAngle/2/45/request; Moves axis 2 to the 45 degree position. For example, if the axis was previously at 365 degrees, it would move to 405 degrees after this command. This differs from the absolute move command, which would move the axis from 365 degrees to 45 degrees.
Response on Receive
Ack moveToClosestAngle/<axis>/<position>/request Where <axis> is the requested axis to move. Where <position> is the requested angle (in degrees).
Read Digital Input
Description
Reads a digital input from a Digital IO Module. This command is only available with MachineMotion software v1.14_hotfix_200325 and newer.
Format
io-expander/<module>/digital-input/<pin> Where <module> is the address (1 to 8) of the Digital IO Module (String). Where <pin> is the terminal on the Digital IO Module (0, 1, 2 or 3) as a (String).
Usage
io-expander/2/digital-input/0; Returns the current state of pin 0 on the Digital IO Module with address 2.
Response on Receive
io-expander/<module>/digital-input/<pin> <value>
Where <value> will be 0 or 1
Read E-Stop Status
Description
Reads the current status of the e-stop. This command is only available with MachineMotion software v1.14_hotfix_200325 and newer.
Format
estop/status;
Usage
estop/status;
Response on Receive
estop/status true When e-stop is engaged. false When e-stop is not engaged.
Read Push Button
Description
Read Push-Button for module [1-8]. Button 0 is the black button, button 1 is white
Format
push-button/<module>/digital-input/<button>;
Usage
push-button/2/digital-input/0;
Response on Receive
push-button/<module>/digital-input/<button> <pushed|released>
Release E-Stop
Description
Releases software generated e-stop. It must be followed by a estop/systemreset/request command. This command is only available with MachineMotion software v1.14_hotfix_200325 and newer.
Format
estop/release/request;
Usage
estop/release/request;
Response on Receive
Ack estop/release/request;
Set All Axes Acceleration
Description
Configures the travel acceleration of the system in mm/min^2. For single-axis movements, the travel acceleration of the axis will be equal to this setting. For multi-axis synchronous moves, the overall motion acceleration will be equal to this setting.
Format
SET acceleration/<value>/; Where <value> is an acceleration value in mm/min^2 as a (String)
Usage
SET acceleration/100/; Sets acceleration for all axes to 100mm /min^2
Response on Receive
Ack
Set All Axes Speed
Description
Configures the travel speed of the system in mm/minute. For single-axis movements, the travel speed of the axis will be equal to this setting. For multi-axis synchronous moves, the overall motion speed will be equal to this setting.
Format
SET speed/<value>/; Where <value> is a position value in mm/minute as a (String)
Usage
SET speed/300/; Sets speed for all axes to 300 mm/minute
Response on Receive
Ack
Set Position
Description
Sets the current position of an axis to a new value (mm).
Format
SET im_set_controller_pos_axis_<axis>/<value>/; Where <axis> is the axis to set position (1, 2 or 3) as a (String). Where <value> (String) is a position in mm.
Usage
SET im_set_controller_pos_axis_1/0/; Sets the current location of axis 1 as position 0 mm SET im_set_controller_pos_axis_2/0/; Sets the current location of axis 2 as position 0 mm SET im_set_controller_pos_axis_3/0/; Sets the current location of axis 3 as position 0 mm
Response on Receive
Ack
Set Power Switch
Description
Write a state (on or off) to a power switch module
Format
power-switch/<module>/digital-output/<"on"|"off">;
Usage
power-switch/3/digital-output/"off"
Response On Complete
power-switch/3/digital-output/"off"
System Reset
Description
Resets the system, this must be done after all e-stop event. This command is only available with MachineMotion software v1.14_hotfix_200325 and newer.
Format
estop/systemreset/request;
Usage
estop/systemreset/request;
Response On Complete
Ack estop/release/request;
Trigger E-Stop
Description
Sets the e-stop. This command is only available with MachineMotion software v1.14_hotfix_200325 and newer.
Format
estop/trigger/request;
Usage
estop/trigger/request;
Response on Receive
Ack estop/trigger/request;
Brake Status
Description
Request the status of a desired brake
Format
brakeStatus/<axis>; Where <axis> is the drive number of the relevant brake
Response on Receive
brake <axis> locked or brake <axis> unlocked
Unlock Brake
Description
Requests that the brake of the desired drive be ulocked
Format
brake/<axis>/unlock; Where <axis> is the drive number of the brake to be unlocked.
Response on Receive
Ack
Lock Brake
Description
Requests that the brake of the desired drive be locked
Format
brake/<axis>/lock; Where <axis> is the drive number of the brake to be locked.
Response on Receive
Ack
Wait On Push Button
Description
Wait for a button [0-1] on module [1-8] to achieve a certain state [pushed or released]. Button 0 is the black button, button 1 is white
Format
push-button/<module>/wait-on/<button>/<pushed|released>;
Usage
push-button/2/wait-on/0/pushed;
Response On Complete
push-button/<module>/digital-input/<button> <pushed|released>
Write Digital Output
Description
Writes a digital output to a Digital IO Module. This command is only available with MachineMotion software v1.14_hotfix_200325 and newer.
Format
io-expander/<module>/digital-output/<pin> <value>; Where <module> is the address (1 to 8) of the Digital IO Module (String). Where <pin> is the terminal on the Digital IO Module (0, 1, 2 or 3) as a (String). Where <value> is the desired state of the output (0 = 0V, 1 = 24V) as a (String).
Usage
io-expander/3/digital-output/2 1; Sets state of pin 2 to the value of 1 on the Digital IO Module with address 3.
Response On Complete
Ack io-expander/<module>/digital-outut/<pin>