--- title: "v1.13.2 and lower" slug: "clone-vention-python-api-1-13-2" updated: 2025-07-23T15:30:12Z published: 2025-07-23T15:30:12Z --- > ## Documentation Index > Fetch the complete documentation index at: https://docs.vention.io/llms.txt > Use this file to discover all available pages before exploring further. # v1.13.2 and lower ## machine-logic-sdk ## Compatibility *Vention’s previous Python API User Manuals can be found in the ‘Documentation for Previous Releases’ at the bottom of this page.* This table specifies the compatibility of the Python package versions with the Vention’s MachineMotion and Pendant versions. | Package | MachineMotion | Pendant | | --- | --- | --- | | v1.12.x* | v2.13.x | v3.2, v3.3 | | v1.13.0 | >=v2.14.x | >=v3.4 | | v1.13.1 | >=v2.15.x | >=v3.5 | | v1.13.2 | >=v2.15.x | >=v3.5 | *Package versions <1.13.0 were published to PyPi under the package name machine-code-python-sdk ## Documentation for Previous Releases [Vention Python API V1.13.1 User Manual](https://cdn.document360.io/3eee4d14-5ca0-4ea6-b426-1c19393e6a5e/Images/Documentation/Vention-Python-API-V1-13-1-User-manual(1).pdf) [Vention Python API V1.13.0 User Manual](https://assets.vention.io/downloads/pdf/tech-docs-archive/Vention-Python-API-V1-13-0-User-manual.pdf) [Vention Python API V1.12.1 User Manual](https://assets.vention.io/downloads/pdf/tech-docs-archive/vention-python-api-v1-12-1.pdf) ## Change Log ****[1.13.2] - 2024-11-11**** #### Added - Added robot async move capabilities with the addition of the following methods accessible off the `Robot` class: `execute_sequence_async`, `movej_async`, `movel_async`, `wait_for_motion_async`. Also added the following robot state: `move_in_progress`. #### Changed: - Updated documentation to reflect the new async methods and state. ****[1.13.1] - 2024-07-18**** #### Added - Introduced the new `Scene` class to the SDK, accessible off of `Machine` class by a new method `get_scene()`. `Scene` is a software representation of the scene containing assets such as reference frames and targets for robots as defined within the MachineLogic Scene Assets pane. - Added `get_calibration_frame` method to the new `Scene` class which returns a software representation of a Calibration Frame (`CalibrationFrame`) as defined within the scene assets pane. - Added `get_default_value`, `get_calibrated_value`, and `set_calibrated_value` to the new `CalibrationFrame` class, allowing users to calibrate their robot programmatically. #### Changed - Updated the documentation to reflect the new classes `Scene`, and `CalibrationFrame`, along with their respective methods: `get_calibration_frame` (Scene), `get_default_value` (CalibrationFrame), `get_calibrated_value`(CalibrationFrame), and `set_calibrated_value` (CalibrationFrame). - New compatibility matrix in documentation to define compatibilities between SDK versions, MachineMotion versions and Pendant versions. ****[1.13.0] - 2024-04-28**** #### Added - Made `ip_address` optional in `Machine` class constructor to allow for more flexible deployment configurations. - New `PathFollower` class implemented and importable through `machinelogic`. A Path Follower Object is a group of Actuators, Digital Inputs and Digital Outputs that enable execution of smooth predefined paths. These paths are defined with G-Code instructions. See Vention’s [G-code interface documentation](/technicaldocumentation/docs/machinemotion-path-following-interface) for a list of supported commands: #### Changed - Updated documentation to reflect the new optional `ip_address` parameter in the `Machine` class. - Modified `RobotOperationalState` by adding two new states: `UNKNOWN = 4` and `NEED_MANUAL_INTERVENTION = 5`. - Modified `RobotSafetyState` by removing: `PROTECTIVE_STOP = 4` and adding: `SAFEGUARD_STOP = 4`. ****[1.12.1] - 2023-02-28**** - Initial python package release ## Motion Features When the Python program ends, any motion that is still executing will continue their execution. If you want to wait for a motion to complete, you should call: ```python actuator.wait_for_move_completion() ``` Asynchronous moves will not wait for the motion to complete before terminating the program. The ‘continuous_move’ function will run forever if not stopped by the program. ## Machine A software representation of the entire Machine. A Machine is defined as any number of MachineMotions, each containing their own set of axes, outputs, inputs, pneumatics, bag grippers, and AC Motors. The Machine class offers a global way to retrieve these various components using the friendly names that you’ve defined in your MachineLogic configuration. To create a new Machine with default settings, you can simply write: ```python machine = Machine() ``` If you need to connect to services running on a different machine or IP address, you can specify the IP address as follows: ```plaintext machine = Machine("192.168.7.2") ``` You should only ever have a single instance of this object in your program. ****get_ac_motor**** - **Description** Retrieves an AC Motor by name. - **Parameters** - **name** - **Description** The name of the AC Motor. - **Type** str - **Returns** - **Description** The AC Motor that was found. - **Type** IACMotor - **Raises** - **Type** MachineMotionException - **Description** If it is not found. ****get_actuator**** - **Description** Retrieves an Actuator by name. - **Parameters** - **name** - **Description** The name of the Actuator. - **Type** str - **Returns** - **Description** The Actuator that was found. - **Type** IActuator - **Raises** - **Type** MachineException - **Description** If we cannot find the Actuator. ```python from machinelogic import Machine machine = Machine() my_actuator = machine.get_actuator("Actuator")# Always home the actuator before starting to ensure position is properly calibrated. my_actuator.home(timeout=10) start_position = my_actuator.state.position print("starting at position: ", start_position) target_distance = 150.0  # mm my_actuator.move_relative(    distance=target_distance,    timeout=10,  # seconds) # first_move_end_position is approx. equal to start_position + target_distance. first_move_end_position = my_actuator.state.position print("first move finished at position: ", first_move_end_position)# move back to starting position target_distance = -1 * target_distance my_actuator.move_relative(    distance=target_distance,    timeout=10,  # seconds) # approx. equal to start_position, end_position = my_actuator.state.position print("finished back at position: ", end_position) ``` ****get_bag_gripper**** - **Description** Retrieves a Bag Gripper by name. - **Parameters** - **name** - **Description** The name of the Bag Gripper - **Type** str - **Returns** - **Description** The Bag Gripper that was found. - **Type** IBagGripper - **Raises** - **Type** MachineMotionException - **Description** If it is not found. ```python from machinelogic import Machine machine = Machine() my_bag_gripper = machine.get_bag_gripper("Bag Gripper") ``` ****get_input**** - **Description** Retrieves an DigitalInput by name. ```python from machinelogic import Machine machine = Machine() my_input = machine.get_input("Input") if my_input.state.value:    print(f"{my_input.configuration.name} is HIGH")else:    print(f"{my_input.configuration.name} is LOW") ``` - **Parameters** - **name** - **Description** The name of the DigitalInput. - **Type** str - **Returns** - **Description** The DigitalInput that was found. - **Type** IDigitalInput - **Raises** - **Type** MachineException - **Description** If we cannot find the DigitalInput. ****get_machine_motion**** - **Description** Retrieves an IMachineMotion instance by name. - **Parameters** - **name** - **Description** The name of the MachineMotion. - **Type** str - **Returns** - **Description** The MachineMotion that was found. - **Type** IMachineMotion - **Raises** - **Type** MachineException - **Description** If we cannot find the MachineMotion. ```python from machinelogic import Machine, MachineException machine = Machine() my_controller_1 = machine.get_machine_motion("Controller 1") configuration = my_controller_1.configuration print("Name:", configuration.name)print("IP Address:", configuration.ip_address) ``` ****get_output**** - **Description** Retrieves an Output by name. - **Parameters** - **name** - **Description** The name of the Output - **Type** str - **Returns** - **Description** The Output that was found. - **Type** IOutput - **Raises** - **Type** MachineException - **Description** If we cannot find the Output. ```python from machinelogic import Machine, MachineException, DigitalOutputException machine = Machine() my_output = machine.get_output("Output") my_output.write(True)  # Write "true" to the Output my_output.write(False)  # Write "false" to the Output ``` ****get_pneumatic**** - **Description** Retrieves a Pneumatic by name. - **Parameters** - **name** - **Description** The name of the Pneumatic. - **Type** str - **Returns** - **Description** The Pneumatic that was found. - **Type** IPneumatic - **Raises** - **Type** MachineException - **Description** If we cannot find the Pneumatic. ```python import time from machinelogic import Machine machine = Machine() my_pneumatic = machine.get_pneumatic("Pneumatic")# Idle my_pneumatic.idle_async() time.sleep(1) # Push my_pneumatic.push_async() time.sleep(1) # Pull my_pneumatic.pull_async() time.sleep(1) ``` ****get_robot**** - **Description** Retrieves a Robot by name. If no name is specified, then returns the first Robot. - **Parameters** - **name** - **Description** The Robot name. If it’s `None`, then the first Robot in the Robot list is returned. - **Type** str - **Returns** - **Description** The Robot that was found. - **Type** IRobot - **Raises** - **Type** MachineException - **Description** If the Robot is not found. ```python from machinelogic import Machine machine = Machine() my_robot = machine.get_robot("Robot") # Example of use: moving robot to specified joint angles in deg my_robot.movej([0, -90, 120, -90, -90, 0]) ``` ****get_scene**** - **Description** Returns the scene instance - **Returns** - **Description** The instance of the scene containing the scene assets. - **Type** IScene - **Raises** - **Type** MachineException - **Description** If failed to find the scene ****on_mqtt_event**** - **Description** Attach a callback function to an MQTT topic. - **Parameters** - **topic** - **Description** The topic to listen on. - **Type** str - **callback** - **Description** A callback where the first argument is the topic and the second is the message. - **Type** Union[Callable[[str, str], None], None] ```python import time from machinelogic import Machine machine = Machine() my_event_topic = "my_custom/event/topic"# A "callback" function called everytime a new mqtt event on my_event_topic is received.def event_callback(topic: str, message: str):    print("new mqtt event:", topic, message) machine.on_mqtt_event(my_event_topic, event_callback) machine.publish_mqtt_event(my_event_topic, "my message") time.sleep(2) machine.on_mqtt_event(my_event_topic, None)  # remove the callback. ``` ****publish_mqtt_event**** - **Description** Publish an MQTT event. - **Parameters** - **topic** - **Description** Topic to publish. - **Type** str - **message** - **Description** Optional message. - **Type** Optional[str] - **Default** None ```python import time import json from machinelogic import Machine machine = Machine() # Example for publishing a cycle-start and cycle-end topic and message# to track application cycles in MachineAnalytics cycle_start_topic = "application/cycle-start" cycle_end_topic = "application/cycle-end" cycle_message = {    "applicationId":"My Python Application",    "cycleId":"default"    } json_cycle_message = json.dumps(cycle_message) while True:    machine.publish_mqtt_event(cycle_start_topic, json_cycle_message)    print("Cycle Start")    time.sleep(5)    machine.publish_mqtt_event(cycle_end_topic, json_cycle_message)    time.sleep(1)    print("Cycle end") ``` ## MachineMotion A software representation of a MachineMotion controller. The MachineMotion is comprised of many actuators, inputs, outputs, pneumatics, ac motors, and bag grippers. It keeps a persistent connection to MQTT as well. You should NEVER construct this object yourself. Instead, it is best to rely on the Machine instance to provide you with a list of the available MachineMotions. ****configuration**** - **Description** MachineMotionConfiguration: The representation of the configuration associated with this MachineMotion. ## Actuator A software representation of an Actuator. An Actuator is defined as a motorized axis that can move by discrete distances. It is not recommended that you construct this object yourself. Rather, you should query it from a Machine instance: E.g.: ```python machine = Machine() my_actuator = machine.get_actuator("Actuator") ``` In this example, “New actuator” is the friendly name assigned to the Actuator in the MachineLogic configuration page. ****configuration**** - **Description** ActuatorConfiguration: The representation of the configuration associated with this MachineMotion. ****home**** - **Description** Home the Actuator synchronously. - **Parameters** - **timeout** - **Description** The timeout in seconds. - **Type** float - **Raises** - **Type** ActuatorException - **Description** If the home was unsuccessful or request timed out. ```python from machinelogic import Machine machine = Machine() my_actuator = machine.get_actuator("Actuator") my_actuator.home(timeout=10) ``` ****lock_brakes**** - **Description** Locks the brakes on this Actuator. - **Raises** - **Type** ActuatorException - **Description** If the brakes failed to lock. ```python from machinelogic import Machine machine = Machine() my_actuator = machine.get_actuator("Actuator") my_actuator.unlock_brakes() # Home the actuator before starting to ensure position is properly calibrated my_actuator.home(timeout=10) my_actuator.move_relative(distance=100.0) my_actuator.lock_brakes() # This move will fail because the brakes are now locked. my_actuator.move_relative(distance=-100.0) ``` ****move_absolute**** - **Description** Moves absolute synchronously to the specified position. - **Parameters** - **position** - **Description** The position to move to. - **Type** float - **timeout** - **Description** The timeout in seconds. - **Type** float - **Raises** - **Type** ActuatorException - **Description** If the move was unsuccessful. ```python from machinelogic import Machine machine = Machine() my_actuator = machine.get_actuator("Actuator")# Always home the actuator before starting to ensure position is properly calibrated. my_actuator.home(timeout=10) my_actuator.move_absolute(    position=150.0,  # millimeters    timeout=10,  # seconds) ``` ****move_absolute_async**** - **Description** Moves absolute asynchronously. - **Parameters** - **position** - **Description** The position to move to. - **Type** float - **Raises** - **Type** ActuatorException - **Description** If the move was unsuccessful. ```python import time from machinelogic import Machine machine = Machine() my_actuator = machine.get_actuator("Actuator") # Always home the actuator before starting to ensure position is properly calibrated. my_actuator.home(timeout=10) target_position = 150.0  # millimeters # move_*_async will start the move and return without waiting for the move to complete. my_actuator.move_absolute_async(target_position) while my_actuator.state.move_in_progress:    print("move is in progress...")    time.sleep(1) # end_position will be approx. equal to target_position. end_position = my_actuator.state.position print("finished at position: ", end_position) ``` ****move_continuous_async**** - **Description** Starts a continuous move. The Actuator will keep moving until it is stopped. - **Parameters** - **speed** - **Description** The speed to move with. - **Type** float - **Default** 100.0 - **acceleration** - **Description** The acceleration to move with. - **Type** float - **Default** 100.0 - **Raises** - **Type** ActuatorException - **Description** If the move was unsuccessful. ```python import time from machinelogic import Machine machine = Machine() my_actuator = machine.get_actuator("Actuator") # Always home the actuator before starting to ensure position is properly calibrated. my_actuator.home(timeout=10) target_speed = 100.0  # mm/s target_acceleration = 500.0  # mm/s^2 target_deceleration = 600.0  # mm/s^2 # move_*_async will start the move and return without waiting for the move to complete. my_actuator.move_continuous_async(target_speed, target_acceleration) time.sleep(10)  # move continuously for ~10 seconds. my_actuator.stop(target_deceleration)  # decelerate to stopped. ``` ****move_relative**** - **Description** Moves relative synchronously by the specified distance. - **Parameters** - **distance** - **Description** The distance to move. - **Type** float - **timeout** - **Description** The timeout in seconds. - **Type** float - **Raises** - **Type** ActuatorException - **Description** If the move was unsuccessful. ```python from machinelogic import Machine machine = Machine() my_actuator = machine.get_actuator("Actuator")# Always home the actuator before starting to ensure position is properly calibrated. my_actuator.home(timeout=10) start_position = my_actuator.state.position print("starting at position: ", start_position) target_distance = 150.0  # mm my_actuator.move_relative(    distance=target_distance,    timeout=10,  # seconds) # first_move_end_position is approx. equal to start_position + target_distance. first_move_end_position = my_actuator.state.position print("first move finished at position: ", first_move_end_position)# move back to starting position target_distance = -1 * target_distance my_actuator.move_relative(    distance=target_distance,    timeout=10,  # seconds) # approx. equal to start_position, end_position = my_actuator.state.position print("finished back at position: ", end_position) ``` ****move_relative_async**** - **Description** Moves relative asynchronously by the specified distance. - **Parameters** - **distance** - **Description** The distance to move. - **Type** float - **Raises** - **Type** ActuatorException - **Description** If the move was unsuccessful. ```python import time from machinelogic import Machine machine = Machine() my_actuator = machine.get_actuator("Actuator") # Always home the actuator before starting to ensure position is properly calibrated. my_actuator.home(timeout=10) start_position = my_actuator.state.position print("starting at position: ", start_position) target_distance = 150.0  # mm # move_*_async will start the move and return without waiting for the move to complete. my_actuator.move_relative_async(distance=150.0) while my_actuator.state.move_in_progress:    print("move is in progress...")    time.sleep(1) # end_position will be approx. equal to start_position + target_distance. end_position = actuator.state.position print("finished at position", end_position) ``` ****set_acceleration**** - **Description** Sets the max acceleration for the Actuator. - **Parameters** - **acceleration** - **Description** The new acceleration. - **Type** float - **Raises** - **Type** ActuatorException - **Description** If the request was unsuccessful. ```python from machinelogic import Machine machine = Machine() my_actuator = machine.get_actuator("Actuator") target_speed = 100.0  # mm/s target_acceleration = 500.0  # mm/s^2 my_actuator.set_speed(target_speed) my_actuator.set_acceleration(target_acceleration) ``` ****set_speed**** - **Description** Sets the max speed for the Actuator. - **Parameters** - **speed** - **Description** The new speed. - **Type** float - **Raises** - **Type** ActuatorException - **Description** If the request was unsuccessful. ```python from machinelogic import Machine machine = Machine() my_actuator = machine.get_actuator("Actuator") target_speed = 100.0  # mm/s target_acceleration = 500.0  # mm/s^2 my_actuator.set_speed(target_speed) my_actuator.set_acceleration(target_acceleration) ``` ****state**** - **Description** ActuatorState: The representation of the current state of this MachineMotion. ****stop**** - **Description** Stops movement on this Actuator. If no argument is provided, then a quickstop is emitted which will abruptly stop the motion. Otherwise, the actuator will decelerate following the provided acceleration. - **Parameters** - **acceleration** - **Description** Deceleration speed. - **Type** float - **Raises** - **Type** ActuatorException - **Description** If the Actuator failed to stop. ```python from machinelogic import Machine machine = Machine() my_actuator = machine.get_actuator("Actuator") deceleration = 500  # mm/s^2 my_actuator.stop(deceleration)  # Deceleration is an optional parameter# The actuator will stop as quickly as possible if no deceleration is specified. ``` ****unlock_brakes**** - **Description** Unlocks the brakes on this Actuator. - **Raises** - **Type** ActuatorException - **Description** If the brakes failed to unlock. ```python from machinelogic import Machine machine = Machine() my_actuator = machine.get_actuator("Actuator") my_actuator.unlock_brakes() # Home the actuator before starting to ensure position is properly calibrated my_actuator.home(timeout=10) my_actuator.move_relative(distance=100.0) my_actuator.lock_brakes() # This move will fail because the brakes are now locked. my_actuator.move_relative(distance=-100.0) ``` ****wait_for_move_completion**** - **Description** Waits for motion to complete before commencing the next action. ```python from machinelogic import Machine machine = Machine() my_actuator = machine.get_actuator("Actuator") # Always home the actuator before starting to ensure position is properly calibrated. my_actuator.home(timeout=10) target_position = 150.0  # millimeters# move_*_async will start the move and return without waiting for the move to complete. my_actuator.move_absolute_async(target_position)print("move started...") my_actuator.wait_for_move_completion(timeout=10)print("motion complete.")# end_position will be approx. equal to target_position. end_position = my_actuator.state.position print("finished at position: ", end_position) ``` - **Parameters** - **timeout** - **Description** The timeout in seconds, after which an exception will be thrown. - **Type** float - **Raises** - **Type** ActuatorException - **Description** If the request fails or the move did not complete in the allocated amount of time. ## ActuatorState Representation of the current state of an Actuator instance. The values in this class are updated in real time to match the physical reality of the Actuator. ****brakes**** - **Description** float: The current state of the brakes of the Actuator. Set to 1 if locked, otherwise 0. ```python from machinelogic import Machine machine = Machine() my_actuator = machine.get_actuator("Actuator")print(my_actuator.state.brakes) ``` ****end_sensors**** - **Description** Tuple[bool, bool]: A tuple representing the state of the [ home, end ] sensors. ```python from machinelogic import Machine machine = Machine() my_actuator = machine.get_actuator("Actuator")print(my_actuator.state.end_sensors) ``` ****move_in_progress**** - **Description** bool: The boolean is True if a move is in progress, otherwise False. ```python from machinelogic import Machine machine = Machine() my_actuator = machine.get_actuator("Actuator")print(my_actuator.state.move_in_progress) ``` ****output_torque**** - **Description** dict[str, float]: The current torque output of the Actuator. ```python from machinelogic import Machine machine = Machine() my_actuator = machine.get_actuator("Actuator")print(my_actuator.state.output_torque) ``` ****position**** - **Description** float: The current position of the Actuator. ```python from machinelogic import Machine machine = Machine() my_actuator = machine.get_actuator("Actuator")print(my_actuator.state.position) ``` ****speed**** - **Description** float: The current speed of the Actuator. ```python from machinelogic import Machine machine = Machine() my_actuator = machine.get_actuator("Actuator")print(my_actuator.state.speed) ``` ## ActuatorConfiguration Representation of the configuration of an Actuator instance. This configuration defines what your Actuator is and how it should behave when work is requested from it. ****actuator_type**** - **Description** ActuatorType: The type of the Actuator. ```python from machinelogic import Machine machine = Machine() my_actuator = machine.get_actuator("Actuator")print(my_actuator.configuration.actuator_type) ``` ****controller_id**** - **Description** str: The controller id of the Actuator ****home_sensor**** - **Description** Literal[“A”, “B”]: The home sensor port, either A or B. ```python from machinelogic import Machine machine = Machine() my_actuator = machine.get_actuator("Actuator")print(my_actuator.configuration.home_sensor) ``` ****ip_address**** - **Description** str: The IP address of the Actuator. ```python from machinelogic import Machine machine = Machine() my_actuator = machine.get_actuator("Actuator")print(my_actuator.configuration.ip_address) ``` ****name**** - **Description** str: The name of the Actuator. ```python from machinelogic import Machine machine = Machine() my_actuator = machine.get_actuator("Actuator")print(my_actuator.configuration.name) ``` ****units**** - **Description** Literal[“deg”, “mm”]: The units that the Actuator functions in. ```python from machinelogic import Machine machine = Machine() my_actuator = machine.get_actuator("Actuator")print(my_actuator.configuration.units) ``` ****uuid**** - **Description** str: The Actuator’s ID. ```python from machinelogic import Machine machine = Machine() my_actuator = machine.get_actuator("Actuator")print(my_actuator.configuration.uuid) ``` ## ActuatorGroup A helper class used to group N-many Actuator instances together so that they can be acted upon as a group. An ActuatorGroup may only contain Actuators that are on the same MachineMotion controller. E.g.: ```python machine = Machine() my_actuator_1 = machine.get_actuator("Actuator 1") my_actuator_2 = machine.get_actuator("Actuator 2") actuator_group = ActuatorGroup(my_actuator_1, my_actuator_2) ``` ****lock_brakes**** - **Description** Locks the brakes for all Actuators in the group. - **Raises** - **Type** ActuatorGroupException - **Description** If the brakes failed to lock on a single Actuator in the group. ```python from machinelogic import Machine, ActuatorGroup machine = Machine() my_actuator_1 = machine.get_actuator("Actuator 1") my_actuator_2 = machine.get_actuator("Actuator 2") # Always home the actuators before starting to ensure position is properly calibrated. my_actuator_1.home(timeout=10) my_actuator_2.home(timeout=10) actuator_group = ActuatorGroup(my_actuator_1, my_actuator_2) actuator_group.set_speed(100.0)  # mm/s actuator_group.set_acceleration(500.0)  # mm/s^2 actuator_group.lock_brakes() # This move will fail because the brakes are locked. actuator_group.move_absolute((50.0, 120.0), timeout=10) ``` ****move_absolute**** - **Description** Moves absolute synchronously to the tuple of positions. - **Parameters** - **position** - **Description** The positions to move to. Each value corresponds 1-to-1 with the actuators tuple provided to the constructor. - **Type** Tuple[float, …] - **timeout** - **Description** The timeout in seconds after which an exception is thrown. - **Type** float - **Default** DEFAULT_MOVEMENT_TIMEOUT_SECONDS - **Raises** - **Type** ActuatorGroupException - **Description** If the request fails or the timeout occurs. ```python from machinelogic import Machine, ActuatorGroup machine = Machine() my_actuator_1 = machine.get_actuator("Actuator 1") my_actuator_2 = machine.get_actuator("Actuator 2") # Always home the actuators before starting to ensure position is properly calibrated. my_actuator_1.home(timeout=10) my_actuator_2.home(timeout=10) actuator_group = ActuatorGroup(my_actuator_1, my_actuator_2) actuator_group.set_speed(100.0)  # mm/s actuator_group.set_acceleration(500.0)  # mm/s^2 target_positions = (100.0, 200.0)  # (mm - actuator1, mm - actuator2) actuator_group.move_absolute(target_positions, timeout=10) ``` ****move_absolute_async**** - **Description** Moves absolute asynchronously to the tuple of positions. - **Parameters** - **distance** - **Description** The positions to move to. Each value corresponds 1-to-1 with the actuators tuple provided to the constructor. - **Type** Tuple[float, …] - **Raises** - **Type** ActuatorGroupException - **Description** If the request fails. ```python from machinelogic import Machine, ActuatorGroup machine = Machine() my_actuator_1 = machine.get_actuator("Actuator 1") my_actuator_2 = machine.get_actuator("Actuator 2") # Always home the actuators before starting to ensure position is properly calibrated. my_actuator_1.home(timeout=10) my_actuator_2.home(timeout=10) actuator_group = ActuatorGroup(my_actuator_1, my_actuator_2) actuator_group.set_speed(100.0)  # mm/s actuator_group.set_acceleration(500.0)  # mm/s^2 target_positions = (75.0, 158.0)  # (mm - actuator1, mm - actuator2) # move_*_async will start the move and return without waiting for the move to complete. actuator_group.move_absolute_async(target_positions)print("move started..") actuator_group.wait_for_move_completion()print("motion completed.") ``` ****move_relative**** - **Description** Moves relative synchronously by the tuple of distances. - **Parameters** - **distance** - **Description** The distances to move each Actuator. Each value corresponds 1-to-1 with the actuators tuple provided to the constructor. - **Type** Tuple[float, …] - **timeout** - **Description** The timeout in seconds after which an exception is thrown. - **Type** float - **Default** DEFAULT_MOVEMENT_TIMEOUT_SECONDS - **Raises** - **Type** ActuatorGroupException - **Description** If the request fails or the timeout occurs ```python from machinelogic import Machine, ActuatorGroup machine = Machine() my_actuator_1 = machine.get_actuator("Actuator 1") my_actuator_2 = machine.get_actuator("Actuator 2") # Always home the actuators before starting to ensure position is properly calibrated. my_actuator_1.home(timeout=10) my_actuator_2.home(timeout=10) actuator_group = ActuatorGroup(my_actuator_1, my_actuator_2) actuator_group.set_speed(100.0)  # mm/s actuator_group.set_acceleration(500.0)  # mm/s^2 target_distances = (-120.0, 240.0)  # (mm - actuator1, mm - actuator2) actuator_group.move_relative(target_distances, timeout=10) ``` ****move_relative_async**** - **Description** Moves relative asynchronously by the tuple of distances. - **Parameters** - **distance** - **Description** The distances to move each Actuator. Each value corresponds 1-to-1 with the actuators tuple provided to the constructor. - **Type** Tuple[float, …] - **Raises** - **Type** ActuatorGroupException - **Description** If the request fails. ```python import time from machinelogic import Machine, ActuatorGroup machine = Machine() actuator1 = machine.get_actuator("My Actuator #1") actuator2 = machine.get_actuator("My Actuator #2") # Always home the actuators before starting to ensure position is properly calibrated. actuator1.home(timeout=10) actuator2.home(timeout=10) actuator_group = ActuatorGroup(actuator1, actuator2) actuator_group.set_speed(100.0)  # mm/s actuator_group.set_acceleration(500.0)  # mm/s^2 target_distances = (-120.0, 240.0)  # (mm - actuator1, mm - actuator2) # move_*_async will start the move and return without waiting for the move to complete. actuator_group.move_relative_async(target_distances) while actuator_group.state.move_in_progress:    print("motion is in progress..")    time.sleep(1) print("motion complete") ``` ****set_acceleration**** - **Description** Sets the acceleration on all Actuators in the group. - **Parameters** - **acceleration** - **Description** The acceleration to set on all Actuators in the group. - **Type** float - **Raises** - **Type** ActuatorGroupException - **Description** If the acceleration failed to set on any Actuator in the group. ****set_speed**** - **Description** Sets the speed on all Actuators in the group. - **Parameters** - **speed** - **Description** The speed to set on all Actuators in the group. - **Type** float - **Raises** - **Type** ActuatorGroupException - **Description** If the speed failed to set on any Actuator in the group. ****state**** - **Description** ActuatorGroupState: The state of the ActuatorGroup. ****stop**** - **Description** Stops movement on all Actuators in the group. - **Raises** - **Type** ActuatorGroupException - **Description** If any of the Actuators in the group failed to stop. ****unlock_brakes**** - **Description** Unlocks the brakes on all Actuators in the group. - **Raises** - **Type** ActuatorGroupException - **Description** If the brakes failed to unlock on a single Actuator in the group. ```python from machinelogic import Machine, ActuatorGroup machine = Machine() my_actuator_1 = machine.get_actuator("Actuator 1") my_actuator_2 = machine.get_actuator("Actuator 2") # Always home the actuators before starting to ensure position is properly calibrated. my_actuator_1.home(timeout=10) my_actuator_2.home(timeout=10) actuator_group = ActuatorGroup(my_actuator_1, my_actuator_2) actuator_group.set_speed(100.0)  # mm/s actuator_group.set_acceleration(500.0)  # mm/s^2 actuator_group.lock_brakes() # This move will fail because the brakes are locked. actuator_group.move_absolute((50.0, 120.0), timeout=10) ``` ****wait_for_move_completion**** - **Description** Waits for motion to complete on all Actuators in the group. - **Parameters** - **timeout** - **Description** The timeout in seconds, after which an exception will be thrown. - **Type** float - **Raises** - **Type** ActuatorGroupException - **Description** If the request fails or the move did not complete in the allocated amount of time. ```python from machinelogic import Machine, ActuatorGroup machine = Machine() my_actuator_1 = machine.get_actuator("Actuator 1") my_actuator_2 = machine.get_actuator("Actuator 2") # Always home the actuators before starting to ensure position is properly calibrated. my_actuator_1.home(timeout=10) my_actuator_2.home(timeout=10) actuator_group = ActuatorGroup(my_actuator_1, my_actuator_2) actuator_group.set_speed(100.0)  # mm/s actuator_group.set_acceleration(500.0)  # mm/s^2 target_positions = (75.0, 158.0)  # (mm - actuator1, mm - actuator2) # move_*_async will start the move and return without waiting for the move to complete. actuator_group.move_absolute_async(target_positions)print("move started..") actuator_group.wait_for_move_completion()print("motion completed.") ``` ## Robot A software representation of a Robot. It is not recommended that you construct this object yourself. Rather, you should query it from a Machine instance: E.g.: ```python machine = Machine() my_robot = machine.get_robot("Robot") ``` In this example, “Robot” is the friendly name assigned to the actuator in the MachineLogic configuration page. ****compute_forward_kinematics**** - **Description** Computes the forward kinematics from joint angles. - **Parameters** - **joint_angles** - **Description** The 6 joint angles, in degrees. - **Type** JointAnglesDegrees - **Returns** - **Description** Cartesian pose, in mm and degrees - **Type** CartesianPose - **Raises** - **Type** ValueError - **Description** Throws an error if the joint angles are invalid. ```python from machinelogic import Machine machine = Machine() my_robot = machine.get_robot("Robot") # Joint angles, in degrees joint_angles = [    176.68,   # j1    -35.95,   # j2     86.37,   # j3   -150.02,   # j4    -90.95,   # j5    -18.58,   # j6] computed_robot_pose = my_robot.compute_forward_kinematics(joint_angles)print(computed_robot_pose) ``` ****compute_inverse_kinematics**** - **Description** Computes the inverse kinematics from a Cartesian pose. - **Parameters** - **cartesian_position** - **Description** The end effector’s pose, in mm and degrees, where the angles are extrinsic Euler angles in XYZ order. - **Type** CartesianPose - **Returns** - **Description** Joint angles, in degrees. - **Type** JointAnglesDegrees - **Raises** - **Type** ValueError - **Description** Throws an error if the inverse kinematic solver fails. ```python from machinelogic import Machine machine = Machine() my_robot = machine.get_robot("Robot") cartesian_position = [     648.71,  # x in millimeters    -313.30,  # y in millimeters     159.28,  # z in millimeters     107.14,  # rx in degrees    -145.87,  # ry in degrees      15.13,  # rz in degrees] computed_joint_angles = my_robot.compute_inverse_kinematics(cartesian_position)print(computed_joint_angles) ``` ****configuration**** - **Description** The Robot configuration. ****create_sequence**** - **Description** Creates a sequence-builder object for building a sequence of robot movements. This method is expected to be used with the `append_*` methods. - **Returns** - **Description** A sequence builder object. - **Type** SequenceBuilder ```python from machinelogic import Machine machine = Machine() my_robot = machine.get_robot("Robot") # Create an arbitrary Cartesian waypoint, that is 10mm or 10 degrees away from the current position cartesian_waypoint = [i + 10 for i in my_robot.state.cartesian_position] # Create an arbitrary joint waypoint, that is 10 degrees away from the current joint angles joint_waypoint = [i + 10 for i in my_robot.state.joint_angles] cartesian_velocity = 100.0  # millimeters per second cartesian_acceleration = 100.0  # millimeters per second squared blend_factor_1 = 0.5 joint_velocity = 10.0  # degrees per second joint_acceleration = 10.0  # degrees per second squared blend_factor_2 = 0.5with my_robot.create_sequence() as seq:    seq.append_movel(        cartesian_waypoint, cartesian_velocity, cartesian_acceleration, blend_factor_1    )    seq.append_movej(joint_waypoint, joint_velocity, joint_acceleration, blend_factor_2) # Alternate Form: seq = my_robot.create_sequence() seq.append_movel(cartesian_waypoint) seq.append_movej(joint_waypoint) my_robot.execute_sequence(seq) ``` ****execute_sequence**** - **Description** Moves the robot through a specific sequence of joint and linear motions. - **Parameters** - **sequence** - **Description** The sequence of target points. - **Type** SequenceBuilder - **Returns** - **Description** True if successful. - **Type** bool ```python from machinelogic import Machine machine = Machine() my_robot = machine.get_robot("Robot") # Create an arbitrary Cartesian waypoint, that is 10mm or 10 degrees away from the current position cartesian_waypoint = [i + 10 for i in my_robot.state.cartesian_position] # Create an arbitrary joint waypoint, that is 10 degrees away from the current joint angles joint_waypoint = [i + 10 for i in my_robot.state.joint_angles] cartesian_velocity = 100.0  # millimeters per second cartesian_acceleration = 100.0  # millimeters per second squared blend_factor_1 = 0.5 joint_velocity = 10.0  # degrees per second joint_acceleration = 10.0  # degrees per second squared blend_factor_2 = 0.5 seq = my_robot.create_sequence() seq.append_movel(    cartesian_waypoint, cartesian_velocity, cartesian_acceleration, blend_factor_1 ) seq.append_movej(joint_waypoint, joint_velocity, joint_acceleration, blend_factor_2) my_robot.execute_sequence(seq) ``` ****execute_sequence_async**** - **Description** Moves the robot through a specific sequence of joint and linear motions asynchronously. - **Parameters** - **sequence** - **Description** The sequence of target points. - **Type** SequenceBuilder - **Returns** - **Description** True if successful. - **Type** bool ```python from machinelogic import Machine machine = Machine() my_robot = machine.get_robot("Robot") # Create an arbitrary Cartesian waypoint, that is 10mm or 10 degrees away from the current position cartesian_waypoint = [i + 10 for i in my_robot.state.cartesian_position] # Create an arbitrary joint waypoint, that is 10 degrees away from the current joint angles joint_waypoint = [i + 10 for i in my_robot.state.joint_angles] cartesian_velocity = 100.0  # millimeters per second cartesian_acceleration = 100.0  # millimeters per second squared blend_factor_1 = 0.5 joint_velocity = 10.0  # degrees per second joint_acceleration = 10.0  # degrees per second squared blend_factor_2 = 0.5 seq = my_robot.create_sequence() seq.append_movel(    cartesian_waypoint, cartesian_velocity, cartesian_acceleration, blend_factor_1 ) seq.append_movej(joint_waypoint, joint_velocity, joint_acceleration, blend_factor_2) my_robot.execute_sequence_async(seq) print("Robot is executing sequence asynchronously.") my_robot.wait_for_motion_completion()print("Robot has finished executing sequence.") ``` ****move_stop**** - **Description** Stops the robot current movement. - **Returns** - **Description** True if the robot was successfully stopped, False otherwise. - **Type** bool ```python from machinelogic import Machine machine = Machine() my_robot = machine.get_robot("Robot") my_robot.move_stop() ``` ****movej**** - **Description** Moves the robot to a specified joint position. - **Parameters** - **target** - **Description** The target joint angles, in degrees. - **Type** JointAnglesDegrees - **velocity** - **Description** The joint velocity to move at, in degrees per second. - **Type** DegreesPerSecond - **acceleration** - **Description** The joint acceleration to move at, in degrees per second squared. - **Type** DegreesPerSecondSquared ```python from machinelogic import Machine machine = Machine() my_robot = machine.get_robot("Robot") joint_velocity = 10.0  # degrees per second joint_acceleration = 10.0  # degrees per second squared # Joint angles, in degrees joint_angles = [    86.0,  # j1     0.0,  # j2    88.0,  # j3     0.0,  # j4    91.0,  # j5     0.0,  # j6] my_robot.movej(    joint_angles,    joint_velocity,    joint_acceleration,) ``` ****movej_async**** - **Description** Moves the robot to a specified joint position asynchronously. - **Parameters** - **target** - **Description** The target joint angles, in degrees. - **Type** JointAnglesDegrees - **velocity** - **Description** The joint velocity to move at, in degrees per second. - **Type** DegreesPerSecond - **acceleration** - **Description** The joint acceleration to move at, in degrees per second squared. - **Type** DegreesPerSecondSquared ```python from machinelogic import Machine machine = Machine() my_robot = machine.get_robot("Robot") joint_velocity = 10.0  # degrees per second joint_acceleration = 10.0  # degrees per second squared # Joint angles, in degrees joint_angles = [    86.0,  # j1     0.0,  # j2    88.0,  # j3     0.0,  # j4    91.0,  # j5     0.0,  # j6] my_robot.movej_async(  joint_angles,  joint_velocity,  joint_acceleration,)print("Robot is moving asynchronously to the specified joint angles.") my_robot.wait_for_motion_completion()print("Robot has finished moving to the specified joint angles.") ``` ****movel**** - **Description** Moves the robot to a specified Cartesian position. - **Parameters** - **target** - **Description** The end effector’s pose, in mm and degrees, where the angles are extrinsic Euler angles in XYZ order. - **Type** CartesianPose - **velocity** - **Description** The velocity to move at, in mm/s. - **Type** MillimetersPerSecond - **acceleration** - **Description** The acceleration to move at, in mm/s^2. - **Type** MillimetersPerSecondSquared - **reference_frame** - **Description** The reference frame to move relative to. If None, the robot’s base frame is used. - **Type** CartesianPose ```python from machinelogic import Machine machine = Machine() my_robot = machine.get_robot("Robot") linear_velocity = 100.0  # millimeters per second linear_acceleration = 100.0  # millimeters per second squared # Target Cartesian pose, in millimeters and degrees cartesian_pose = [   -267.8,    # x in millimeters    -89.2,    # y in millimeters    277.4,    # z in millimeters   -167.8,    # rx in degrees        0,    # ry in degrees    -77.8,    # rz in degrees] reference_frame = [    23.56,    # x in millimeters-125.75,    # y in millimeters     5.92,    # z in millimeters     0.31,    # rx in degrees     0.65,    # ry in degrees    90.00,    # rz in degrees] my_robot.movel(    cartesian_pose,    linear_velocity,  # Optional    linear_acceleration,  # Optional    reference_frame,  # Optional) ``` ****movel_async**** - **Description** Moves the robot to a specified Cartesian position asynchronously. - **Parameters** - **target** - **Description** The end effector’s pose, in mm and degrees, where the angles are extrinsic Euler angles in XYZ order. - **Type** CartesianPose - **velocity** - **Description** The velocity to move at, in mm/s. - **Type** MillimetersPerSecond - **acceleration** - **Description** The acceleration to move at, in mm/s^2. - **Type** MillimetersPerSecondSquared - **reference_frame** - **Description** The reference frame to move relative to. If None, the robot’s base frame is used. - **Type** CartesianPose ```python from machinelogic import Machine machine = Machine() my_robot = machine.get_robot("Robot") linear_velocity = 100.0  # millimeters per second linear_acceleration = 100.0  # millimeters per second squared # Target Cartesian pose, in millimeters and degrees cartesian_pose = [   -267.8,    # x in millimeters    -89.2,    # y in millimeters    277.4,    # z in millimeters   -167.8,    # rx in degrees        0,    # ry in degrees    -77.8,    # rz in degrees] reference_frame = [    23.56,    # x in millimeters-125.75,    # y in millimeters     5.92,    # z in millimeters     0.31,    # rx in degrees     0.65,    # ry in degrees    90.00,    # rz in degrees] my_robot.movel_async(    cartesian_pose,    linear_velocity,  # Optional    linear_acceleration,  # Optional    reference_frame,  # Optional)print("Robot is moving asynchronously to the specified Cartesian pose.") my_robot.wait_for_motion_completion()print("Robot has finished moving to the specified Cartesian pose.") ``` ****on_log_alarm**** - **Description** Set a callback to the log alarm. - **Parameters** - **callback** - **Description** A callback function to be called when a robot alarm is received. - **Type** Callable[[IRobotAlarm], None] - **Returns** - **Description** The callback ID. - **Type** int ```python from machinelogic import Machine machine = Machine() my_robot = machine.get_robot("Robot")# The functon defined here is called when the specified alarm occursdef handle_log_alarm(alarm):    print(alarm.level, alarm.error_code, alarm.description) my_robot.on_log_alarm(handle_log_alarm) ``` ****on_system_state_change**** - **Description** Registers a callback for system state changes. - **Parameters** - **callback** - **Description** The callback function. - **Type** Callable[[RobotOperationalState, RobotSafetyState], None] - **Returns** - **Description** The callback ID. - **Type** int ```python from machinelogic import Machine from machinelogic.machinelogic.robot import RobotOperationalState, RobotSafetyState machine = Machine() my_robot = machine.get_robot("Robot")# The function defined here is called when the specified state change occursdef handle_state_change(robot_operational_state: RobotOperationalState, safety_state: RobotSafetyState):    """    A function that is called when the specified state change occurs.    Args:        robot_operational_state (RobotOperationalState): The current operational state of the robot.        safety_state (RobotSafetyState): The current safety state of the robot.    """    print(robot_operational_state, safety_state) callback_id = my_robot.on_system_state_change(handle_state_change)print(callback_id) ``` ****reset**** - **Description** Attempts to reset the robot to a normal operational state. - **Returns** - **Description** True if successful. - **Type** bool ```python from machinelogic import Machine machine = Machine() my_robot = machine.get_robot("Robot") did_reset = my_robot.reset()print(did_reset) # Robot state should be 'Normal'print(my_robot.state.operational_state) ``` ****set_payload**** - **Description** Sets the payload of the robot. - **Parameters** - **payload** - **Description** The payload, in kg. - **Type** Kilograms - **Returns** - **Description** True if successful. - **Type** bool ```python from machinelogic import Machine machine = Machine() my_robot = machine.get_robot("Robot") # Weight in Kilograms weight = 2.76 is_successful = my_robot.set_payload(weight)print(is_successful) ``` ****set_tcp_offset**** - **Description** Sets the tool center point offset. - **Parameters** - **tcp_offset** - **Description** The TCP offset, in mm and degrees, where the angles are extrinsic Euler angles in XYZ order. - **Type** CartesianPose - **Returns** - **Description** True if the TCP offset was successfully set, False otherwise. - **Type** bool ```python from machinelogic import Machine machine = Machine() my_robot = machine.get_robot("Robot") # This offset will be applied in reference# to the end effector coordinate system cartesian_offset = [     10.87,   # x in millimeters    -15.75,   # y in millimeters    200.56,   # z in millimeters      0.31,   # rx degrees      0.65,   # ry degrees      0.00,   # rz degrees] is_successful = my_robot.set_tcp_offset(cartesian_offset)print(is_successful) ``` ****state**** - **Description** The current Robot state. ****teach_mode**** - **Description** Put the robot into teach mode (i.e., freedrive). - **Returns** - **Description** A context manager that will exit teach mode when it is closed. - **Type** TeachModeContextManager ```python import time from machinelogic import Machine machine = Machine() my_robot = machine.get_robot("Robot") with my_robot.teach_mode():  # When all arguments inside this statement are complete, teach mode ends automatically    print("Robot is now in teach mode for 5 seconds")    time.sleep(5)    # Robot should be in 'Freedrive'    print(my_robot.state.operational_state)    time.sleep(1) time.sleep(1) # Robot should be back to 'Normal'print(my_robot.state.operational_state) ``` ****wait_for_motion_completion**** - **Description** Waits for the robot to complete its current motion. Used in asynchronous movements. - **Parameters** - **timeout** - **Description** The timeout in seconds, after which an exception will be thrown. - **Type** float - **Returns** - **Description** True if successful. - **Type** bool - **Raises** - **Type** ActuatorException - **Description** If the request fails or the move did not complete in the allocated amount of time. ```python from machinelogic import Machine machine = Machine() my_robot = machine.get_robot("Robot") joint_velocity = 10.0  # degrees per second joint_acceleration = 10.0  # degrees per second squared # Joint angles, in degrees joint_angles = [    86.0,  # j1     0.0,  # j2    88.0,  # j3     0.0,  # j4    91.0,  # j5     0.0,  # j6] my_robot.movej_async(  joint_angles,  joint_velocity,  joint_acceleration,)print("Robot is moving asynchronously to the specified joint angles.") my_robot.wait_for_motion_completion()print("Robot has finished moving to the specified joint angles.") ``` ## RobotState A representation of the robot current state. ****cartesian_position**** - **Description** The end effector’s pose, in mm and degrees, where the angles are extrinsic Euler angles in XYZ order. ```python from machinelogic import Machine machine = Machine() my_robot = machine.get_robot("Robot") end_effector_pose = my_robot.state.cartesian_position end_effector_position_mm = end_effector_pose[:3] end_effector_orientation_euler_xyz_deg = end_effector_pose[-3:]print(f"End effector's pose: {end_effector_pose}")print(f"End effector's Cartesian position: {end_effector_position_mm}")print(f"End effector's Euler XYZ orientation: {end_effector_orientation_euler_xyz_deg}") ``` ****joint_angles**** - **Description** The robot current joint angles. ```python from machinelogic import Machine machine = Machine() my_robot = machine.get_robot("Robot") print(my_robot.state.joint_angles) ``` ****move_in_progress**** - **Description** Check if the robot is currently moving. ```python from machinelogic import Machine machine = Machine() my_robot = machine.get_robot("Robot")print(my_robot.state.move_in_progress) ``` ****operational_state**** - **Description** The current robot operational state. ```python from machinelogic import Machine machine = Machine() my_robot = machine.get_robot("Robot")print(my_robot.state.operational_state) ``` ****safety_state**** - **Description** The current robot safety state. ```python from machinelogic import Machine machine = Machine() my_robot = machine.get_robot("Robot")print(my_robot.state.safety_state) ``` ## RobotConfiguration A representation of the configuration of a Robot instance. This configuration defines what your Robot is and how it should behave when work is requested from it. ****cartesian_velocity_limit**** - **Description** The maximum Cartesian velocity of the robot, in mm/s. ```python from machinelogic import Machine machine = Machine() my_robot = machine.get_robot("Robot")print(my_robot.configuration.cartesian_velocity_limit) ``` ****joint_velocity_limit**** - **Description** The robot joints’ maximum angular velocity, in deg/s. ```python from machinelogic import Machine machine = Machine() my_robot = machine.get_robot("Robot")print(my_robot.configuration.joint_velocity_limit) ``` ****name**** - **Description** The friendly name of the robot. ```python from machinelogic import Machine machine = Machine() my_robot = machine.get_robot("Robot")print(my_robot.configuration.name) ``` ****robot_type**** - **Description** The robot’s type. ```python from machinelogic import Machine machine = Machine() my_robot = machine.get_robot("Robot")print(my_robot.configuration.robot_type) ``` ****uuid**** - **Description** The robot’s ID. ```python from machinelogic import Machine machine = Machine() my_robot = machine.get_robot("Robot")print(my_robot.configuration.uuid) ``` ## RobotOperationalState The robot’s operational state. Possible values: - `OFFLINE` - `NON_OPERATIONAL` - `FREEDRIVE` - `NORMAL` - `UNKNOWN` - `NEED_MANUAL_INTERVENTION` ## RobotSafetyState The robot’s safety state. Possible values: - `NORMAL` - `EMERGENCY_STOP` - `REDUCED_SPEED` - `SAFEGUARD_STOP` - `UNKNOWN` ## SequenceBuilder A builder for a sequence of moves. ****append_movej**** - **Description** Append a movej to the sequence. - **Parameters** - **target** - **Description** The target joint angles, in degrees. - **Type** JointAnglesDegrees - **velocity** - **Description** The velocity of the move, in degrees per second. - **Type** DegreesPerSecond - **Default** 10.0 - **acceleration** - **Description** The acceleration of the move, in degrees per second squared. - **Type** DegreesPerSecondSquared - **Default** 10.0 - **blend_radius** - **Description** The blend radius of the move, in millimeters. - **Type** Millimeters - **Default** 0.0 - **Returns** - **Description** The builder. - **Type** SequenceBuilder ****append_movel**** - **Description** Append a movel to the sequence. - **Parameters** - **target** - **Description** The target pose. - **Type** CartesianPose - **velocity** - **Description** The velocity of the move, in millimeters per second. - **Type** MillimetersPerSecond - **Default** 100.0 - **acceleration** - **Description** The acceleration of the move, in millimeters per second squared. - **Type** MillimetersPerSecondSquared - **Default** 100.0 - **blend_radius** - **Description** The blend radius of the move, in millimeters. - **Type** Millimeters - **Default** 0.0 - **reference_frame** - **Description** The reference frame for the target pose. - **Type** CartesianPose - **Default** None - **Returns** - **Description** The builder. - **Type** SequenceBuilder ## DigitalInput A software representation of an DigitalInput. It is not recommended that you construct this object yourself. Rather, you should query it from a Machine instance. ****configuration**** - **Description** DigitalInputConfiguration: The configuration of the DigitalInput. ****state**** - **Description** DigitalInputState: The state of the DigitalInput. ```python from machinelogic import Machine machine = Machine() my_input = machine.get_input("Input") if my_input.state.value:    print(f"{my_input.configuration.name} is HIGH")else:    print(f"{my_input.configuration.name} is LOW") ``` ## DigitalInputState Representation of the current state of an DigitalInput/DigitalOutput instance. ****value**** - **Description** bool: The current value of the IO pin. True means high, while False means low. This is different from active/inactive, which depends on the active_high configuration. ## DigitalInputConfiguration Representation of the configuration of an DigitalInput/DigitalOutput. This configuration is established by the configuration page in MachineLogic. ****active_high**** - **Description** bool: The value that needs to be set to consider the DigitalInput/DigitalOutput as active. ****device**** - **Description** int: The device number of the DigitalInput/DigitalOutput. ****ip_address**** - **Description** str: The ip address of the DigitalInput/DigitalOutput. ****name**** - **Description** str: The name of the DigitalInput/DigitalOutput. ****port**** - **Description** int: The port number of the DigitalInput/DigitalOutput. ****uuid**** - **Description** str: The unique ID of the DigitalInput/DigitalOutput. ## DigitalOutput A software representation of an Output. It is not recommended that you construct this object yourself. Rather, you should query it from a Machine instance. ****configuration**** - **Description** OutputConfiguration: The configuration of the Output. ****write**** - **Description** Writes the value into the Output, with True being high and False being low. - **Parameters** - **value** - **Description** The value to write to the Output. - **Type** bool - **Raises** - **Type** DigitalOutputException - **Description** If we fail to write the value to the Output. ```python from machinelogic import Machine, MachineException, DigitalOutputException machine = Machine() my_output = machine.get_output("Output") my_output.write(True)  # Write "true" to the Output my_output.write(False)  # Write "false" to the Output ``` ## DigitalOutputConfiguration Representation of the configuration of an DigitalInput/DigitalOutput. This configuration is established by the configuration page in MachineLogic. ****active_high**** - **Description** bool: The value that needs to be set to consider the DigitalInput/DigitalOutput as active. ****device**** - **Description** int: The device number of the DigitalInput/DigitalOutput. ****ip_address**** - **Description** str: The ip address of the DigitalInput/DigitalOutput. ****name**** - **Description** str: The name of the DigitalInput/DigitalOutput. ****port**** - **Description** int: The port number of the DigitalInput/DigitalOutput. ****uuid**** - **Description** str: The unique ID of the DigitalInput/DigitalOutput. ## Pneumatic A software representation of a Pneumatic. It is not recommended that you construct this object yourself. Rather, you should query it from a Machine instance: E.g.: ```python machine = Machine() my_pneumatic = machine.get_pneumatic("Pneumatic") ``` In this example, “Pneumatic” is the friendly name assigned to a Pneumatic in the MachineLogic configuration page. ****configuration**** - **Description** PneumaticConfiguration: The configuration of the actuator. ****idle_async**** - **Description** Idles the Pneumatic. - **Raises** - **Type** PneumaticException - **Description** If the idle was unsuccessful. ****pull_async**** - **Description** Pulls the Pneumatic. - **Raises** - **Type** PneumaticException - **Description** If the pull was unsuccessful. ****push_async**** - **Description** Pushes the Pneumatic. - **Raises** - **Type** PneumaticException - **Description** If the push was unsuccessful. ****state**** - **Description** PneumaticState: The state of the actuator. ## PneumaticConfiguration Representation of a Pneumatic configuration. ****device**** - **Description** int: The device of the axis. ****input_pin_pull**** - **Description** Optional[int]: The optional pull in pin. ****input_pin_push**** - **Description** Optional[int]: The optional push in pin. ****ip_address**** - **Description** str: The IP address of the axis. ****name**** - **Description** str: The name of the Pneumatic. ****output_pin_pull**** - **Description** int: The pull out pin of the axis. ****output_pin_push**** - **Description** int: The push out pin of the axis. ****uuid**** - **Description** str: The ID of the Pneumatic. ## ACMotor A software representation of an AC Motor. It is not recommended that you construct this object yourself. Rather, you should query it from a Machine instance: E.g.: ```python machine = Machine() my_ac_motor = machine.get_ac_motor("AC Motor") ``` In this example, “AC Motor” is the friendly name assigned to an AC Motor in the MachineLogic configuration page. ****configuration**** - **Description** ACMotorConfiguration: The configuration of the ACMotor. ****move_forward**** - **Description** Begins moving the AC Motor forward. - **Raises** - **Type** ACMotorException - **Description** If the move was unsuccessful. ```python from time import sleep from machinelogic import Machine machine = Machine() my_ac_motor = machine.get_ac_motor("AC Motor") my_ac_motor.move_forward() sleep(10) my_ac_motor.stop() ``` ****move_reverse**** - **Description** Begins moving the AC Motor in reverse. - **Raises** - **Type** ACMotorException - **Description** If the move was unsuccessful. ```python import time from machinelogic import Machine machine = Machine() my_ac_motor = machine.get_ac_motor("AC Motor") # Move the AC motor in reverse my_ac_motor.move_reverse() # The AC motor will stop moving if the program terminates time.sleep(10) ``` ****stop**** - **Description** Stops the movement of the AC Motor. - **Raises** - **Type** ACMotorException - **Description** If the stop was unsuccessful. ```python import time from machinelogic import Machine machine = Machine() my_ac_motor = machine.get_ac_motor("AC Motor") # Move the AC Motor forwards my_ac_motor.move_forward() # Do something here time.sleep(10) my_ac_motor.stop() ``` ## ACMotorConfiguration Representation of a ACMotor configuration. ****device**** - **Description** int: The device of the axis. ****ip_address**** - **Description** str: The IP address of the axis. ****name**** - **Description** str: The name of the Pneumatic. ****output_pin_direction**** - **Description** int: The push out pin of the axis. ****output_pin_move**** - **Description** int: The pull out pin of the axis. ****uuid**** - **Description** str: The ID of the Pneumatic. ## BagGripper A software representation of a Bag Gripper. It is not recommended that you construct this object yourself. Rather, you should query it from a Machine instance: E.g.: ```python machine = Machine() my_bag_gripper = machine.get_bag_gripper("Bag Gripper") ``` In this example, “Bag Gripper” is the friendly name assigned to a Bag Gripper in the MachineLogic configuration page. ****close_async**** This is data - **Description** Closes the Bag Gripper. - **Raises** - **Type** BagGripperException - **Description** If the Bag Gripper fails to close. ```python import time from machinelogic import Machine machine = Machine() my_bag_gripper = machine.get_bag_gripper("Bag Gripper") # Open the Bag Gripper my_bag_gripper.open_async() # You can do something while the Bag Gripper is open time.sleep(10) # Close the Bag Gripper my_bag_gripper.close_async() ``` ****configuration**** - **Description** BagGripperConfiguration: The configuration of the actuator. ****open_async**** - **Description** Opens the Bag Gripper. - **Raises** - **Type** BagGripperException - **Description** If the Bag Gripper fails to open. ```python import time from machinelogic import Machine machine = Machine() my_bag_gripper = machine.get_bag_gripper("Bag Gripper") # Open the Bag Gripper my_bag_gripper.open_async() # You can do something while the Bag Gripper is open time.sleep(10) # Close the Bag Gripper my_bag_gripper.close_async() ``` ****state**** - **Description** BagGripperState: The state of the actuator. ## BagGripperConfiguration Representation of a Bag gripper configuration. ****device**** - **Description** int: The device of the Bag gripper. ****input_pin_close**** - **Description** int: The close in pin of the Bag gripper. ****input_pin_open**** - **Description** int: The open in pin of the Bag gripper. ****ip_address**** - **Description** str: The IP address of the Bag gripper. ****name**** - **Description** str: The name of the Bag gripper. ****output_pin_close**** - **Description** int: The close out pin of the Bag gripper. ****output_pin_open**** - **Description** int: The open out pin of the Bag gripper. ****uuid**** - **Description** str: The ID of the Bag gripper. ## PathFollower Path Follower: A Path Follower Object is a group of Actuators, Digital Inputs and Digital Outputs that enable execution of smooth predefined paths. These paths are defined with G-Code instructions. See Vention’s G-code interface documentation for a list of supported commands: /technicaldocumentation/docs/ ****add_tool**** - **Description** Add a tool to be referenced by the M(3-5) $ commands - **Parameters** - **tool_id** - **Description** Unique integer defining tool id. - **Type** int - **m3_output** - **Description** Output to map to the M3 Gcode command - **Type** IDigitalOutput - **m4_output** - **Description** Optional, Output to map to the M4 Gcode command - **Type** Union[IDigitalOutput, None] - **Raises** - **Type** PathFollowerException - **Description** If the tool was not properly added. ```python from machinelogic import Machine, PathFollower machine = Machine() x_axis = machine.get_actuator("X_Actuator") y_axis = machine.get_actuator("Y_Actuator") m3_output = machine.get_output("M3_Output") m4_output = machine.get_output("M4_Output") GCODE = """ G90   ; Absolute position mode G0 X60 Y110 F1200 ; Rapid move at 1200 mm/minute M3 $1 ; Start tool 1 in clockwise direction G1 X110 Y110 F1000 ; Travel move at 1000 mm/minute M4 $1 ; counter clockwise now G0 X50 Y50 M5 $1 ; Stop tool 1 G0 X1 Y1 """ # Create PathFollower instance path_follower = PathFollower(x_axis, y_axis) # Associate a digital output with a GCode tool number path_follower.add_tool(1, m3_output, m4_output)  # clockwise  # counterclockwise path_follower.start_path(GCODE) ``` ****start_path**** - **Description** Start the path, returns when path is complete - **Parameters** - **gcode** - **Description** Gcode path - **Type** str - **Raises** - **Type** PathFollowerException - **Description** If failed to run start_path ```python from machinelogic import Machine, PathFollower machine = Machine() # must be defined in ControlCenter x_axis = machine.get_actuator("X_Actuator") y_axis = machine.get_actuator("Y_Actuator") GCODE = """ (Operational mode commands) G90   ; Absolute position mode G90.1 ; Absolute arc centre G21   ; Use millimeter units G17   ; XY plane arcs G64 P0.5 ; Blend move mode, 0.5 mm tolerance (Movement and output commands) G0 X60 Y110 F1200 ; Rapid move at 1200 mm/minute G1 X110 Y110 F1000 ; Travel move at 1000 mm/minute G2 X110 Y10 I100 J60 ; Clockwise arc G1 X60 Y10 G2 X60 Y110 I60 J60 G4 P1.0 ; Dwell for 1 second G0 X1 Y1 """ # Create PathFollower instance path_follower = PathFollower(x_axis, y_axis) # Run your Gcode path_follower.start_path(GCODE) ``` ****start_path_async**** - **Description** Start the path, nonblocking, returns immediately - **Parameters** - **gcode** - **Description** Gcode path - **Type** str - **Raises** - **Type** PathFollowerException - **Description** If failed to run start_path_async ```python from machinelogic import Machine, PathFollower import time machine = Machine() # must be defined in ControlCenter x_axis = machine.get_actuator("X_Actuator") y_axis = machine.get_actuator("Y_Actuator") GCODE = """ (Operational mode commands) G90   ; Absolute position mode G90.1 ; Absolute arc centre G21   ; Use millimeter units G17   ; XY plane arcs G64 P0.5 ; Blend move mode, 0.5 mm tolerance (Movement and output commands) G0 X60 Y110 F1200 ; Rapid move at 1200 mm/minute G1 X110 Y110 F1000 ; Travel move at 1000 mm/minute G2 X110 Y10 I100 J60 ; Clockwise arc G1 X60 Y10 G2 X60 Y110 I60 J60 G4 P1.0 ; Dwell for 1 second G0 X1 Y1 """ path_follower = PathFollower(x_axis, y_axis) # Run your Gcode path_follower.start_path_async(GCODE) PATH_IN_PROGRESS = Truewhile PATH_IN_PROGRESS:    time.sleep(0.5)    path_state = path_follower.state    PATH_IN_PROGRESS = path_state.running    print(        {            "running": path_state.running,            "line_number": path_state.line_number,            "current_command": path_state.current_command,            "error": path_state.error,            "speed": path_state.speed,            "acceleration": path_state.acceleration,        }    ) ``` ****state**** - **Description** Current state of the path follower ****stop_path**** - **Description** Abruptly stop the path following procedure. Affects all actuators in the PathFollower instance - **Raises** - **Type** PathFollowerException - **Description** If failed to stop path ****wait_for_path_completion**** - **Description** Wait for the path to complete ```python from machinelogic import Machine, PathFollower machine = Machine() # must be defined in ControlCenter x_axis = machine.get_actuator("X_Actuator") y_axis = machine.get_actuator("Y_Actuator") GCODE = """ (Operational mode commands) G90   ; Absolute position mode G90.1 ; Absolute arc centre G21   ; Use millimeter units G17   ; XY plane arcs G64 P0.5 ; Blend move mode, 0.5 mm tolerance (Movement and output commands) G0 X60 Y110 F1200 ; Rapid move at 1200 mm/minute G1 X110 Y110 F1000 ; Travel move at 1000 mm/minute G2 X110 Y10 I100 J60 ; Clockwise arc G1 X60 Y10 G2 X60 Y110 I60 J60 G4 P1.0 ; Dwell for 1 second G0 X1 Y1 """ # Create PathFollower instance path_follower = PathFollower(x_axis, y_axis) # Run your Gcode asynchronously path_follower.start_path_async(GCODE) # Waits for path completion before continuing with program path_follower.wait_for_path_completion()print("Path Complete") ``` ## PathFollowerState PathFollower State ****acceleration**** - **Description** float: The current tool acceleration in millimeters/second^2 ****current_command**** - **Description** Union[str, None]: In-progress command of gcode script. ****error**** - **Description** Union[str, None]: A description of errors encountered during path execution. ****line_number**** - **Description** int: Current line number in gcode script. ****running**** - **Description** bool: True if path following in progress. ****speed**** - **Description** float: The current tool speed in millimeters/second ## Scene A software representation of the scene containing assets that describe and define reference frames and targets for robots. Only a single instance of this object should exist in your program. ****get_calibration_frame**** - **Description** Gets a calibration frame from scene assets by name - **Parameters** - **name** - **Description** Friendly name of the calibration frame asset - **Type** str - **Returns** - **Description** The found calibration frame - **Type** ICalibrationFrame - **Raises** - **Type** SceneException - **Description** If the scene asset is not found ```python from machinelogic import Machine machine = Machine() scene = machine.get_scene() # Assuming we have a calibration frame defined# in Scene Assets called "calibration_frame_1" calibration_frame = scene.get_calibration_frame("calibration_frame_1") default_value = calibration_frame.get_default_value() print(default_value) ``` ## CalibrationFrame A calibration frame, as defined in the scene assets pane, is represented in software. It is measured in millimeters and degrees, with angles given as extrinsic Euler angles in XYZ order. ****get_calibrated_value**** - **Description** Gets the calibration frame’s calibrated values. - **Returns** - **Description** The calibrated value of the calibration frame in mm and degrees, where the angles are extrinsic Euler angles in XYZ order. - **Type** CartesianPose - **Raises** - **Type** SceneException - **Description** If failed to get the calibrated value ```python from machinelogic import Machine machine = Machine() scene = machine.get_scene() # Assuming we have a calibration frame defined# in Scene Assets called "calibration_frame_1" calibration_frame = scene.get_calibration_frame("calibration_frame_1") calibrated_value = calibration_frame.get_calibrated_value() print(calibrated_value) ``` ****get_default_value**** - **Description** Gets the calibration frame’s default values. - **Returns** - **Description** The nominal value of the calibration frame in mm and degrees, where the angles are extrinsic Euler angles in XYZ order. - **Type** CartesianPose - **Raises** - **Type** SceneException - **Description** If failed to get the default value ```plaintext from machinelogic import Machine machine = Machine() scene = machine.get_scene() # Assuming we have a calibration frame defined# in Scene Assets called "calibration_frame_1" calibration_frame = scene.get_calibration_frame("calibration_frame_1") default_value = calibration_frame.get_default_value() print(default_value) ``` ****set_calibrated_value**** - **Description** Sets the calibration frame’s calibrated values. - **Parameters** - **frame** - **Description** The calibrated values of the Calibration Frame in mm and degrees, where the angles are extrinsic Euler angles in XYZ order. - **Type** CartesionPose - **Raises** - **Type** SceneException - **Description** If failed to set the calibrated value ```python from machinelogic import Machine machine = Machine() scene = machine.get_scene() # Assuming we have a calibration frame defined# in Scene Assets called "calibration_frame_1" calibration_frame = scene.get_calibration_frame("calibration_frame_1") # CartesianPose in mm and degrees, where the angles are# extrinsic Euler angles in XYZ order. calibrated_cartesian_pose = [100, 100, 50, 90, 90, 0] calibration_frame.set_calibrated_value(calibrated_cartesian_pose) ``` ## Exceptions ## ActuatorException An exception thrown by an Actuator Args: ```python VentionException (VentionException): Super class ``` ****args**** - **Description** ****with_traceback**** - **Description** Exception.with_traceback(tb) – set self.**traceback** to tb and return self. ## MachineException An exception thrown by the Machine Args: ```python Exception (VentionException): Super class ``` ****args**** - **Description** ****with_traceback**** - **Description** Exception.with_traceback(tb) – set self.**traceback** to tb and return self. ## RobotException An exception thrown by a Robot Args: ```python VentionException (VentionException): Super class ``` ****args**** - **Description** ****with_traceback**** - **Description** Exception.with_traceback(tb) – set self.**traceback** to tb and return self. ## MachineMotionException An exeption thrown by a MachineMotion Args: ```python VentionException (VentionException): Super class ``` ****args**** - **Description** ****with_traceback**** - **Description** Exception.with_traceback(tb) – set self.**traceback** to tb and return self. ## DigitalInputException An exception thrown by an INput Args: ```python VentionException (VentionException): Super class ``` ****args**** - **Description** ****with_traceback**** - **Description** Exception.with_traceback(tb) – set self.**traceback** to tb and return self. ## DigitalOutputException An exception thrown by an Output Args: ```python VentionException (VentionException): Super class ``` ****args**** - **Description** ****with_traceback**** - **Description** Exception.with_traceback(tb) – set self.**traceback** to tb and return self. ## ActuatorGroupException An exception thrown by an ActuatorGroup Args: ```python VentionException (VentionException): Super class ``` ****args**** - **Description** ****with_traceback**** - **Description** Exception.with_traceback(tb) – set self.**traceback** to tb and return self. ## EstopException An exception thrown by the Machine Args: ```python Exception (VentionException): Super class ``` ****args**** - **Description** ****with_traceback**** - **Description** Exception.with_traceback(tb) – set self.**traceback** to tb and return self. ## PathFollowingException An exception thrown by a path following operation Args: ```python VentionException(__type__): Super class ``` ****args**** - **Description** ****with_traceback**** - **Description** Exception.with_traceback(tb) – set self.**traceback** to tb and return self.