How to configure, program and simulate with MachineLogic

Introduction

This guide covers how to configure a design and program an application using MachineLogic.
MachineLogic provides a development environment to create customized applications using either code-free or Python programming. MachineLogic also provides simulation and deployment tools dedicated to the creation of applications that can be easily deployed to the MachineMotion Controller.
To learn more about how to deploy applications on the MachineMotion controller, click here.
Throughout this document, we will be using this design as an example.

Tip
MachineLogic’s user Interface does not yet adapt to different monitor sizes. For an optimal experience, consider reducing your browser’s Zoom setting when using MachineLogic when using a smaller monitor such as a laptop screen

Accessing MachineLogic

To access MachineLogic, your MachineBuilder design must contain:

A MachineMotionAI Controller
One of the following component types:

once a controlled devices have been added to a design, their Configuration properties will be shown in the configuration pane:

The configuration data is automatically populated once the corresponding device has been added to the design. For more information on each device’s configuration properties, select one of the links below:

Once the automation components have been added to the design, access MachineLogic by selecting the MachineLogic tab at the top of the MachineBuilder toolbar:

3D model of Vention Experience Center's overhead sanding cell with detailed parts list.

To create a new application, select the New app button from the landing page:

Interface for creating applications using code-free or Python programming options.

the following sections will focus on Code-Free Programming. For more information on MachineLogic Python programming, please click here

Code-free Programming

The main components of the MachineLogic Code-Free interface are explained below:

Program Assets

Variables and Functions can be defined from the Program Assets section:

Variables

Variables give the ability to change a parameter easily throughout the entirety of the MachineLogic program. This can be used to expose important application parameters such as speeds and positions, and makes it generally easier to collaborate with colleagues on the same application.
Variables support the following data type:

Integers and floats
Arrays
Strings
Objects
Json files

Variable values can be inputted directly in MachineLogic commands and changed using the Set Variable command.
It is also possible to define variables tracking input states, this can be useful when setting flags in the application that reflect the state of a configured input.

***Figure 6: Variables in MachineLogic***

Functions

functions give the ability to create complex expressions to return a string, a number, an array or an object, to be inputted in other MachineLogic commands.
To use functions, enter a function name, arguments to allow names to be passed in the body and the actual Function body.
Functions accept regular JavaScript syntax, meaning for or while loops, if-else conditionals, operators, and much more can be written in the function’s body. Additionally, JavaScript objects such as Math, Array, or Map, and their respective functions can also be called directly in-line. Learn more about what can be done by visiting the official JavaScript Documentation.
functions can be called in any of the MachineLogic sequence commands found below, in the following format: FunctionName(Arguments).

Motion commands
Wait commands
Output commands
Set variable commands
Condition commands
Loop commands
Message commands

Functions should be used when similar calculations are needed to be used in the commands mentioned above. For example, if a position could be computed by adding two numbers together, it is possible to create a function that takes in two arguments and returns their sum.

Example:
First, create a function in the functions tab:

myFunction(a,b) {return a + b}

The example below shows how functions can be inputted in a “add motion” command, in this example, myFunction(200,300) will return a value of 500.

***Figure 8: Calling a lambda function in a command***

Sequences

Sequences can be thought of as functions that are executed by the Main Program when using either an Execute, Condition or Loop command . Sequences contain a set of commands that will dictate a task accomplished by the machine.

New sequences can be inserted using the “Plus” icon in the header.

Sequences are displayed in a tree-view structure displaying the commands they contain. From the tree-view it is possible to duplicate instructions as well as disable them to help when debugging. Instructions can also be reordered using drag and drop.

Main Program

The Main Program is where sequences and commands are executed and simulated in the 3D View. Sequences can be executed in the main program using either Execute, Condition or Loop commands. It is also possible to directly insert commands in the Main Program.

Only one main Program may be created inside an application.

Command Pane

The Command Pane is where each of the inserted command’s properties are displayed. Commands are displayed and executed from top to bottom. It is possible to reorder commands in this view by drag and drop.

Deployment

The deployment buttons are used to access One-Click-Deploy functionalities. to learn more about deployment of your application, click here

HMI Builder

HMI Builder is a feature that can be used to create Operator Interfaces that allow interaction with the application.

Edit Mode: toggles between edit and play mode. The application can be launched in Play mode.
Group: Allows the creation of additional pages when the plus icon is selected.
Information Console: Shows message in the console when an Add Message command is read,
Button: Sends an MQTT topic that can be used within the application to trigger events.
For more information about Events and MQTT , click here.
Variable Input: Sets the value of a variable from the Operator Interface
Variable Display: Displays the current value of a variable.
Digital Input Display: Displays the current state of a digital Input.
Label: Add text to the operator interface

Run Button

Use this button to launch or interrupt the simulation

3D View

This view displays the current loaded design and enables the MachineBuilder context menu.
Conveyor box Mechanics can also be enabled when Conveyors are present in the design.
To enable Conveyor Simulation, select the plus icon on the associated conveyor and specify the desired simulated behavior.

Figure 10: Conveyor Simulation

Scene Assets Pane

The scene Assets pane is where robot programming Assets are displayed. To learn more about Scene Assets, click here

Simulation pane

Device Emulation:

The simulation pane allows for the emulation of IO devices and push buttons added to the design.
When these devices are configured, they will show in the simulation pane and allow interactions with the program and application when the simulation is running.
Emulation is supported for the following devices:
PushButton module
Digital I/O module
Estop Module
Estop Module W/ reset

Cycle Time

The Cycle time functionality displays both cycle time and cycle count when playing a program in simulation.
To calculate cycle time, the application must contain both a MachineAnalytics Cycle Start and Cycle End events. Both commands are found in the Set Output Category.

Figure 11: Cycle Time Display

Add Commands

The Add command button is used to access and insert commands in Sequences and Main Programs. It contains instructions cards that are used to program the logic and motion of the application.

Programming Commands

	Description
Break from loop	Immediately exits the innermost `Loop` instruction it is contained within, skipping any remaining iterations.
Condition	Executes one of several specified sequences based on the evaluation of conditional expressions (similar to If/ElseIf/Else logic).
Console Log	Outputs a specified message (text, variable values, or expression results) to the MachineLogic information console for debugging or status. The console is accessed through the `edit HMI`feature.
Loop	Repeats the execution of a specified sequence either forever, a fixed number of times, or while a given condition remains true.
Python snippet	Executes a user-provided block of Python code, allowing access to the MachineLogic Python SDK for custom logic.
Run Sequence	Executes a specified, named sequence either in series (waiting for completion) or in parallel (continuing immediately).
Set variable	Assigns a new value to a specified variable, sourced from an expression, a device input, an actuator position or a constant.
Stop application	Immediately terminates the execution of the entire MachineLogic application.
Wait for amount of time	Pauses the execution of the current sequence for a specified duration (e.g., in seconds or milliseconds).
Wait for condition	Pauses the execution of the current sequence until a specified logical expression evaluates to true.

State machine Command

Use this instruction to create state machines in your application. To learn more about State machines in MachineLogic, click here

Input/Output Commands

	Description
set digital output value	Sets the state of a specified digital output pin to High (1) or Low (0).
set variable from digital input state	Reads the current state (High/1 or Low/0) of a specified digital input pin and assigns that value to a Boolean variable.
Wait for digital input state	Pauses the execution of the current sequence until a specified digital input pin reaches a desired state (High/1 or Low/0).
wait for digital input transition	Pauses the execution of the current sequence until a specified digital input pin changes state (either rising edge: 0 to 1, or falling edge: 1 to 0).

Communication Commands

	Description
Make HTTP request	Sends an HTTP request (e.g., GET, POST) to a specified URL, optionally sending data and storing the server's response in a variable.
Publish MQTT message	Publishes a message (payload) to a specified topic on the MachineLogic MQTT broker.
Wait for MQTT message	Pauses the execution of the current sequence until a message is received on a specified MQTT topic, optionally filtering by message content.
Send Ethernet/IP message	Sends a data packet using the EtherNet/IP protocol to a configured target device on the network. To learn more about Ethernet/IP, click here.
Wait for Ethernet/IP	Pauses the execution of the current sequence until a specific data packet is received from a configured device via the EtherNet/IP protocol, optionally filtering by data. To learn more about Ethernet/IP, click here.

MachineAnalytics Commands

	Description
Cycle Start	Initiates the cycle timer and counter accessible through the simulation pane.
Cycle End	Terminates the cycle timer and counter and displays the resulting cycle time.

Robot Commands

	Description
Robot move	Commands the robot to move its Tool Center Point (TCP) through a sequence of one or more specified targets (Cartesian or Joint Scene Assets), using defined motion parameters (Move Type, Speed, Acceleration, Blend Radius). to learn more about Scene assets, click here
Robot move relative	Moves the robot a specified distance and/or rotation (X, Y, Z, Rx, Ry, Rz) relative to its current position, along the active TCP frame.
Robot stop	Immediately stops any ongoing robot motion initiated by a previous `Robot move` or `Robot move relative` command.
Set Payload	Informs the robot controller of the current weight (payload in kg) being carried by the robot, allowing it to adjust dynamics for optimal performance and safety.
Set active TCP	Selects and activates one of the pre-configured Tool Center Points (TCPs) for subsequent robot motions, allowing the program to switch between different tools or reference points.

Linear Actuator Commands

	Description
Move relative	Moves one or more specified linear actuators a defined distance (positive or negative) from their current positions, using the currently set motion parameters. Motion can be either in series (waiting for completion) or in parallel (continuing immediately).
Move absolute	Moves one or more specified linear actuators to a defined position relative to their established home position, using the currently set motion parameters. Motion can be either in series (waiting for completion) or in parallel (continuing immediately).
Move to home	Initiates the homing sequence for one or more specified linear actuators, moving them towards their home sensor to establish a zero reference point.
Set motion parameters	Defines the maximum speed and acceleration values that will be used for subsequent motion commands (`Move relative`, `Move absolute`) executed by the specified linear actuator(s).
set variable from actuator position	Reads the current position of a specified linear actuator and assigns that numerical value to a variable.
Stop linear move	Immediately stops any ongoing motion for the specified linear actuator(s).
Wait for motion complete	Pauses the execution of the current sequence until the specified linear actuator(s) have finished their current motion commands (`Move relative`, `Move absolute`, `Move to home`).

Rotary Actuator Commands

	Description
Move relative	Rotates one or more specified rotary actuators by a defined angle (positive or negative, in degrees) from their current positions, using the currently set motion parameters. Motion can be either in series (waiting for completion) or in parallel (continuing immediately).
Move absolute	Rotates one or more specified rotary actuators to a defined angular position (in degrees) relative to their established home position, using the currently set motion parameters. Motion can be either in series (waiting for completion) or in parallel (continuing immediately).
Move to home	Initiates the homing sequence for one or more specified rotary actuators, moving them towards their home sensor to establish a zero-degree reference point.
Set motion parameters	Defines the maximum angular speed (e.g., deg/s) and angular acceleration (e.g., deg/s²) values that will be used for subsequent motion commands (`Move relative`, `Move absolute`) executed by the specified rotary actuator(s).
set variable from actuator position	Reads the current angular position (in degrees) of a specified rotary actuator and assigns that numerical value to a MachineLogic variable.
Stop rotary move	Immediately stops any ongoing rotational motion for the specified rotary actuator(s).
Wait for motion complete	Pauses the execution of the current sequence until the specified rotary actuator(s) have finished their current rotational motion commands (`Move relative`, `Move absolute`, `Move to home`, `Move to closest angle`).
Move to closest angle	Rotates a rotary actuator to a specified target angle (within -360 to 360 degrees) using the shortest path, or a specified direction (clockwise/counter-clockwise), ensuring less than a full rotation.
Set angle	Redefines the current physical position of a rotary actuator as a specific angle value (in degrees) without causing any physical movement.
Start continuous move	Initiates continuous rotation of a specified rotary actuator at the currently set speed and acceleration until a `Stop` command is issued.

Conveyor Commands

	Description
Move relative	Moves one or more specified conveyors a defined linear distance (positive or negative) from their current positions, using the currently set motion parameters. Motion can be either in series (waiting for completion) or in parallel (continuing immediately).
Set motion parameters	Defines the maximum linear speed (e.g., mm/s) and linear acceleration (e.g., mm/s²) values that will be used for subsequent motion commands (`Move relative`, `Start continuous move`) executed by the specified conveyor(s).
set variable from actuator position	Reads the current estimated linear position of a specified conveyor (if position tracking is enabled/supported) and assigns that numerical value to a variable.
Stop conveyor move	Immediately stops any ongoing motion for the specified conveyor(s), including continuous moves.
Wait for motion complete	Pauses the execution of the current sequence until the specified conveyor(s) have finished their current discrete motion commands (e.g., `Move relative`). Does not wait indefinitely for a continuous move.
Start continuous move	Initiates continuous forward or reverse motion of a specified conveyor at the currently set speed and acceleration until a `Stop` command is issued. When AC Motors with VFDs are used, this command will activate the associated output pin.

Pneumatic Commands

	Description
Push	Activates the output associated with extending the piston of the specified pneumatic actuator.
Pull	Activates the output associated with retracting the piston of the specified pneumatic actuator.
Idle	Deactivates both the push and pull outputs for the specified pneumatic actuator, allowing it to potentially be moved freely by external forces.