--- title: "v2.1.x" slug: "v21x" description: "Explore compatibility of Python package versions with Vention's MachineMotion and Pendant, including updates and new features in version 2.0.x." updated: 2025-12-19T19:49:44Z published: 2025-12-19T19:49:44Z --- > ## 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. # v2.1.x ## Compatibility 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 | | v1.14.0 | >=v2.18.x | >=v3.8 | | v2.0.x | >=v3.0.0 | N/A** | | v2.1.x | >=v3.1.0 | N/A** | *Package versions before 1.13.0 were published to PyPi under the package name machine-code-python-sdk **Post MMAI release (MachineMotion v3.0.0), machine-logic-sdk is no longer dependent on Pendant version. ## Change Log ****Version 2.1.x**** ### Version 2.1.1 #### Fixed: - Broken dependency causing failure to install from pypi. ### Version 2.1.0 #### Added: - Added `get_reference_frame` method to the `Scene` class which returns a software representation of a Reference Frame (`ReferenceFrame`) as defined within the scene assets pane. - Added method `get_position` method to new `ReferenceFrame` class. Can retrieve position relative to 'robot_base' or 'parent' - Added `get_cartesian_target` method to the `Scene` class which returns a software representation of a Cartesian target (`CartesianTarget`) as defined within the scene assets pane. - Added method `get_position` method to new `CartesianTarget` class. Can retrieve position relative to 'robot_base' or 'parent' - Added `get_joint_target` method to the `Scene` class which returns a software representation of a Joint Target (`JointTarget`) as defined within the scene assets pane. - Added method `get_joint_angles` method to new `JointTarget` class. ## 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, 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: ```python machine = Machine("192.168.7.2") ``` You should only ever have a single instance of this object in your program. ****state**** - **Description** The state of the Machine. - **Type** [MachineState](https://docs.vention.io/technicaldocumentation/docs/v21x#machinestate) ****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** [ACMotor](https://docs.vention.io/technicaldocumentation/docs/v21x#acmotor) - **Raises** - **Type** [MachineMotionException](https://docs.vention.io/technicaldocumentation/docs/v21x#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** [Actuator](https://docs.vention.io/technicaldocumentation/docs/v21x#actuator) - **Raises** - **Type** [MachineException](https://docs.vention.io/technicaldocumentation/docs/v21x#machineexception) - **Description** If we cannot find the Actuator. ```python from machinelogic import Machine, MotionProfile 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  # millimeters VELOCITY = 150.0  # mm/s ACCELERATION = 150.0  # mm/s^2 JERK = 150.0  # mm/s^3 OPTIONAL PARAMETER new_motion_profile = MotionProfile(    velocity=VELOCITY, acceleration=ACCELERATION, jerk=JERK ) my_actuator.move_relative(    distance=TARGET_DISTANCE,    motion_profile=new_motion_profile, ) # 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,    motion_profile=new_motion_profile, ) # approx. equal to start_position, end_position = my_actuator.state.position print("finished back at position: ", end_position) ``` ****get_input**** - **Description** Retrieves an DigitalInput by name. - **Parameters** - **name** - **Description** The name of the DigitalInput. - **Type** str - **Returns** - **Description** The DigitalInput that was found. - **Type** [DigitalInput](https://docs.vention.io/technicaldocumentation/docs/v21x#digitalinput) - **Raises** - **Type** [MachineException](https://docs.vention.io/technicaldocumentation/docs/v21x#machineexception) - **Description** If we cannot find 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") ``` ****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** [](https://docs.vention.io/technicaldocumentation/docs/v21x#machine)[MachineMotion](https://docs.vention.io/technicaldocumentation/docs/v21x#machinemotion) - **Raises** - **Type** [MachineException](https://docs.vention.io/technicaldocumentation/docs/v21x#machineexception) - **Description** If we cannot find the MachineMotion. ```python from machinelogic import Machine machine = Machine() my_controller_1 = machine.get_machine_motion("Controller 1") configuration = my_controller_1.configuration print("Name:", configuration.name) ``` ****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](https://docs.vention.io/technicaldocumentation/docs/v21x#machineexception) - **Description** If we cannot find the Output. ```python from machinelogic import Machine 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** [Pneumatic](https://docs.vention.io/technicaldocumentation/docs/v21x#pneumatic) - **Raises** - **Type** [MachineException](https://docs.vention.io/technicaldocumentation/docs/v21x#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** [Robot](https://docs.vention.io/technicaldocumentation/docs/v21x#robot) - **Raises** - **Type** [MachineException](https://docs.vention.io/technicaldocumentation/docs/v21x#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** [Scene](https://docs.vention.io/technicaldocumentation/docs/v21x#scene) - **Raises** - **Type** [MachineException](https://docs.vention.io/technicaldocumentation/docs/v21x#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. ``` ****on_system_state_change**** - **Description** Adds a change listener to execute when the Machine state changes. - **Parameters** - **callback** - **Description** The callback - **Type** Callable[[[MachineOperationalState](https://docs.vention.io/technicaldocumentation/docs/v21x#machineoperationalstate), [MachineSafetyState](https://docs.vention.io/technicaldocumentation/docs/v21x#machinesafetystate)], None] ```python from machinelogic import Machine machine = Machine() # Callback function called everytime a new system state is received. def on_machine_state_change_callback(operational_state, safety_state):    print("New Machine Operational State", operational_state)    print("New Machine Safety State", safety_state) # To set an on_system_state_change callback machine.on_system_state_change(on_machine_state_change_callback) # To remove the callback machine.on_system_state_change(None) ``` ****publish_mqtt_event**** - **Description** Publish an MQTT event. - **Parameters** - **topic** - **Description** Topic to publish. - **Type** str - **message** - **Description** Optional message. Defaults to None. - **Type** Optional[str] ```python import json import time 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") ``` ****reset**** - **Description** Reset the machine by trying to clear drive errors. - **Returns** - **Description** True if the machine was reset successfully, False otherwise. - **Type** bool ```python from machinelogic import Machine machine = Machine() # Example for resetting the machine if the MachineOperationalState is # NON_OPERATIONAL. The reset programmatically tries to clear drive errors if machine.state.operational_state == "NON_OPERATIONAL":    machine.reset()    print("Machine Reset") ``` ## MachineState A representation of the state of the Machine. ****operational_state**** - **Description** The operational state of the Machine. - **Type** [MachineOperationalState](https://docs.vention.io/technicaldocumentation/docs/v21x#machineoperationalstate) ****safety_state**** - **Description** The safety state of the Machine. - **Type** [MachineSafetyState](https://docs.vention.io/technicaldocumentation/docs/v21x#machinesafetystate) ## **MachineOperationalState** **Description**: The machine's operational state. - **NON_OPERATIONAL**= 0 - **NORMAL**= 1 ## **MachineSafetyState** **Description**: The machine's safety state. - **ERROR**= -1 - **NONE**= 0 - **EMERGENCY_STOP**= 1 - **NORMAL**= 2 ## MachineMotion A software representation of a MachineMotion controller. The MachineMotion is comprised of many actuators, inputs, outputs, pneumatics, and ac motors. 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. - **Type** MachineMotionConfiguration ## 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** The representation of the configuration associated with this MachineMotion. - **Type** [ActuatorConfiguration](https://docs.vention.io/technicaldocumentation/docs/v21x#actuatorconfiguration) ****state**** - **Description** The representation of the current state of this MachineMotion. - **Type** [ActuatorState](https://docs.vention.io/technicaldocumentation/docs/v21x#actuatorstate) ****home**** - **Description** Home the Actuator synchronously. - **Parameters** - **timeout** - **Description** The timeout in seconds. - **Type** float - **Raises** - **Type** [ActuatorException](https://docs.vention.io/technicaldocumentation/docs/v21x#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) ``` ****move_absolute**** - **Description** Moves absolute synchronously to the specified position. - **Parameters** - **position** - **Description** The position to move to. - **Type** float - **motion_profile** - **Description** The motion profile to move with. See MotionProfile class. - **Type** [MotionProfile](https://docs.vention.io/technicaldocumentation/docs/v21x#motionprofile) - **Raises** - **Type** [ActuatorException](https://docs.vention.io/technicaldocumentation/docs/v21x#actuatorexception) - **Description** If the move was unsuccessful. ```python from machinelogic import Machine, MotionProfile 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 VELOCITY = 150.0  # mm/s ACCELERATION = 150.0  # mm/s^2 JERK = 150.0  # mm/s^3 OPTIONAL PARAMETER my_actuator.move_absolute(    position=TARGET_POSITION,  # millimeters    motion_profile=MotionProfile(        velocity=VELOCITY, acceleration=ACCELERATION, jerk=JERK    ) ) ``` ****move_absolute_async**** - **Description** Moves absolute asynchronously. - **Parameters** - **position** - **Description** The position to move to. - **Type** float - **motion_profile** - **Description** The motion profile to move with. See MotionProfile class. - **Type** [MotionProfile](https://docs.vention.io/technicaldocumentation/docs/v21x#motionprofile) - **Raises** - **Type** [ActuatorException](https://docs.vention.io/technicaldocumentation/docs/v21x#actuatorexception) - **Description** If the move was unsuccessful. ```python import time from machinelogic import Machine, MotionProfile 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 VELOCITY = 150.0  # mm/s ACCELERATION = 150.0  # mm/s^2 JERK = 150.0  # mm/s^3 OPTIONAL PARAMETER new_motion_profile = MotionProfile(    velocity=VELOCITY, acceleration=ACCELERATION, jerk=JERK ) # move_absolute_async will start the move and return without waiting for the move to complete. my_actuator.move_absolute_async(    position=TARGET_POSITION, motion_profile=new_motion_profile ) 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** - **motion_profile** - **Description** The motion profile to move with. See MotionProfile class. Note: Actuator.move_continuous_async does not support jerk. If jerk is provided in the MotionProfile, a warning will be raised and the move will continue without jerk. - **Type** [MotionProfile](https://docs.vention.io/technicaldocumentation/docs/v21x#motionprofile) - **Raises** - **Type** [ActuatorException](https://docs.vention.io/technicaldocumentation/docs/v21x#actuatorexception) - **Description** If the move was unsuccessful. ```python import time from machinelogic import Machine, MotionProfile 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) # Continuous motion profile only uses velocity and acceleration. VELOCITY = 100.0  # mm/s ACCELERATION = 100.0  # mm/s^2 new_motion_profile = MotionProfile(velocity=VELOCITY, acceleration=ACCELERATION) # move_continuous_async will start the move and return without waiting for the move to complete. my_actuator.move_continuous_async(motion_profile=new_motion_profile) time.sleep(10)  # move continuously for ~10 seconds. my_actuator.stop()  # decelerate to stopped. ``` ****move_relative**** - **Description** Moves relative synchronously by the specified distance. - **Parameters** - **distance** - **Description** The distance to move. - **Type** float - **motion_profile** - **Description** The motion profile to move with. See MotionProfile class. - **Type** [MotionProfile](https://docs.vention.io/technicaldocumentation/docs/v21x#motionprofile) - **Raises** - **Type** [ActuatorException](https://docs.vention.io/technicaldocumentation/docs/v21x#actuatorexception) - **Description** If the move was unsuccessful. ```python from machinelogic import Machine, MotionProfile 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  # millimeters VELOCITY = 150.0  # mm/s ACCELERATION = 150.0  # mm/s^2 JERK = 150.0  # mm/s^3 OPTIONAL PARAMETER new_motion_profile = MotionProfile(    velocity=VELOCITY, acceleration=ACCELERATION, jerk=JERK ) my_actuator.move_relative(    distance=TARGET_DISTANCE,    motion_profile=new_motion_profile, ) # 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,    motion_profile=new_motion_profile, ) # 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 - **motion_profile** - **Description** The motion profile to move with. See MotionProfile class. - **Type** [MotionProfile](https://docs.vention.io/technicaldocumentation/docs/v21x#motionprofile) - **Raises** - **Type** [ActuatorException](https://docs.vention.io/technicaldocumentation/docs/v21x#actuatorexception) - **Description** If the move was unsuccessful. ```python import time from machinelogic import Machine, MotionProfile 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  # millimeters VELOCITY = 150.0  # mm/s ACCELERATION = 150.0  # mm/s^2 JERK = 150.0  # mm/s^3 OPTIONAL PARAMETER new_motion_profile = MotionProfile(    velocity=VELOCITY, acceleration=ACCELERATION, jerk=JERK ) # move_relative_async will start the move and return without waiting for the move to complete. my_actuator.move_relative_async(    distance=TARGET_DISTANCE, motion_profile=new_motion_profile ) 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 = my_actuator.state.position print("finished at position", end_position) ``` ****stop**** - **Description** Stops movement on this Actuator as quickly as possible. - **Raises** - **Type** [ActuatorException](https://docs.vention.io/technicaldocumentation/docs/v21x#actuatorexception) - **Description** If the Actuator failed to stop. ```python from machinelogic import Machine machine = Machine() my_actuator = machine.get_actuator("Actuator") my_actuator.stop() # The actuator will stop as quickly as possible. ``` ****wait_for_move_completion**** - **Description** Waits for motion to complete before commencing the next action. - **Parameters** - **timeout** - **Description** The timeout in seconds, after which an exception will be thrown. - **Type** float - **Raises** - **Type** [ActuatorException](https://docs.vention.io/technicaldocumentation/docs/v21x#actuatorexception) - **Description** If the request fails or the move did not complete in the allocated amount of time. ```python from machinelogic import Machine, MotionProfile 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 VELOCITY = 150.0  # mm/s ACCELERATION = 150.0  # mm/s^2 new_motion_profile = MotionProfile(velocity=VELOCITY, acceleration=ACCELERATION) # move_absolute_async will start the move and return without waiting for the move to complete. my_actuator.move_absolute_async(    position=TARGET_POSITION, motion_profile=new_motion_profile ) 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) ``` ## 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. ****end_sensors**** - **Description** A tuple representing the state of the [ home, end ] sensors. - **Type** typing.Tuple[bool, bool] ```python from machinelogic import Machine machine = Machine() my_actuator = machine.get_actuator("Actuator") print(my_actuator.state.end_sensors) ``` ****move_in_progress**** - **Description** The boolean is True if a move is in progress, otherwise False. - **Type** bool ```python from machinelogic import Machine machine = Machine() my_actuator = machine.get_actuator("Actuator") print(my_actuator.state.move_in_progress) ``` ****output_torque**** - **Description** The current torque output of the Actuator. - **Type** dict ```python from machinelogic import Machine machine = Machine() my_actuator = machine.get_actuator("Actuator") print(my_actuator.state.output_torque) ``` ****position**** - **Description** The current position of the Actuator. - **Type** float ```python from machinelogic import Machine machine = Machine() my_actuator = machine.get_actuator("Actuator") print(my_actuator.state.position) ``` ****speed**** - **Description** The current speed of the Actuator. - **Type** float ```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** The type of the Actuator. - **Type** typing.Literal['belt', 'rack_and_pinion', 'rack_and_pinion_v2', 'ball_screw', 'enclosed_ball_screw', 'enclosed_lead_screw', 'indexer', 'indexer_v2', 'electric_cylinder', 'belt_conveyor', 'roller_conveyor', 'pneumatic', 'ac_motor_with_vfd', 'enclosed_timing_belt', 'belt_rack', 'heavy_duty_roller_conveyor', 'timing_belt_conveyor', 'telescopic_column', 'custom'] ```python from machinelogic import Machine machine = Machine() my_actuator = machine.get_actuator("Actuator") print(my_actuator.configuration.actuator_type) ``` ****controller_id**** - **Description** The controller id of the Actuator - **Type** str ****home_sensor**** - **Description** The home sensor port, either A or B. - **Type** typing.Literal['A', 'B'] ```python from machinelogic import Machine machine = Machine() my_actuator = machine.get_actuator("Actuator") print(my_actuator.configuration.home_sensor) ``` ****name**** - **Description** The name of the Actuator. - **Type** str ```python from machinelogic import Machine machine = Machine() my_actuator = machine.get_actuator("Actuator") print(my_actuator.configuration.name) ``` ****units**** - **Description** The units that the Actuator functions in. - **Type** typing.Literal['deg', 'mm'] ```python from machinelogic import Machine machine = Machine() my_actuator = machine.get_actuator("Actuator") print(my_actuator.configuration.units) ``` ****uuid**** - **Description** The Actuator's ID. - **Type** str ```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) ``` ****state**** - **Description** The state of the ActuatorGroup. - **Type** ActuatorGroupState ****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, ...] - **motion_profile** - **Description** The motion profile to move with. See MotionProfile class. - **Type** [MotionProfile](https://docs.vention.io/technicaldocumentation/docs/v21x#motionprofile) - **Raises** - **Type** [ActuatorGroupException](https://docs.vention.io/technicaldocumentation/docs/v21x#actuatorgroupexception) - **Description** If the request fails or the timeout occurs. ```python from machinelogic import ActuatorGroup, Machine, MotionProfile 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) TARGET_POSITIONS = (100.0, 200.0)  # (mm - actuator1, mm - actuator2) VELOCITY = 150.0  # mm/s ACCELERATION = 150.0  # mm/s^2 JERK = 150.0  # mm/s^3 OPTIONAL PARAMETER new_motion_profile = MotionProfile(    velocity=VELOCITY, acceleration=ACCELERATION, jerk=JERK ) actuator_group.move_absolute(    position=TARGET_POSITIONS, motion_profile=new_motion_profile ) ``` ****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, ...] - **motion_profile** - **Description** The motion profile to move with. See MotionProfile class. - **Type** [MotionProfile](https://docs.vention.io/technicaldocumentation/docs/v21x#motionprofile) - **Raises** - **Type** [ActuatorGroupException](https://docs.vention.io/technicaldocumentation/docs/v21x#actuatorgroupexception) - **Description** If the request fails. ```python from machinelogic import ActuatorGroup, Machine, MotionProfile 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) TARGET_POSITIONS = (75.0, 158.0)  # (mm - actuator1, mm - actuator2) VELOCITY = 150.0  # mm/s ACCELERATION = 150.0  # mm/s^2 JERK = 150.0  # mm/s^3 OPTIONAL PARAMETER new_motion_profile = MotionProfile(    velocity=VELOCITY, acceleration=ACCELERATION, jerk=JERK ) # move_absolute_async will start the move and return without waiting for the move to complete. actuator_group.move_absolute_async(    position=TARGET_POSITIONS, motion_profile=new_motion_profile ) 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, ...] - **motion_profile** - **Description** The motion profile to move with. See MotionProfile class. - **Type** [MotionProfile](https://docs.vention.io/technicaldocumentation/docs/v21x#motionprofile) - **Raises** - **Type** [ActuatorGroupException](https://docs.vention.io/technicaldocumentation/docs/v21x#actuatorgroupexception) - **Description** If the request fails or the timeout occurs ```python from machinelogic import ActuatorGroup, Machine, MotionProfile 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) TARGET_DISTANCES = (-120.0, 240.0)  # (mm - actuator1, mm - actuator2) VELOCITY = 150.0  # mm/s ACCELERATION = 150.0  # mm/s^2 JERK = 150.0  # mm/s^3 OPTIONAL PARAMETER new_motion_profile = MotionProfile(    velocity=VELOCITY, acceleration=ACCELERATION, jerk=JERK ) actuator_group.move_relative(    distance=TARGET_DISTANCES, motion_profile=new_motion_profile ) ``` ****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, ...] - **motion_profile** - **Description** The motion profile to move with. See MotionProfile class. - **Type** [MotionProfile](https://docs.vention.io/technicaldocumentation/docs/v21x#motionprofile) - **Raises** - **Type** [ActuatorGroupException](https://docs.vention.io/technicaldocumentation/docs/v21x#actuatorgroupexception) - **Description** If the request fails. ```python import time from machinelogic import ActuatorGroup, Machine, MotionProfile 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) TARGET_DISTANCES = (-120.0, 240.0)  # (mm - actuator1, mm - actuator2) VELOCITY = 150.0  # mm/s ACCELERATION = 150.0  # mm/s^2 JERK = 150.0  # mm/s^3 OPTIONAL PARAMETER new_motion_profile = MotionProfile(    velocity=VELOCITY, acceleration=ACCELERATION, jerk=JERK ) # move_relative_async will start the move and return without waiting for the move to complete. actuator_group.move_relative_async(    distance=TARGET_DISTANCES, motion_profile=new_motion_profile ) while actuator_group.state.move_in_progress:    print("motion is in progress..")    time.sleep(1) print("motion complete") ``` ****stop**** - **Description** Stops movement on all Actuators in the group. - **Raises** - **Type** [ActuatorGroupException](https://docs.vention.io/technicaldocumentation/docs/v21x#actuatorgroupexception) - **Description** If any of the Actuators in the group failed to stop. ****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](https://docs.vention.io/technicaldocumentation/docs/v21x#actuatorgroupexception) - **Description** If the request fails or the move did not complete in the allocated amount of time. ```python from machinelogic import ActuatorGroup, Machine, MotionProfile 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) TARGET_POSITIONS = (75.0, 158.0)  # (mm - actuator1, mm - actuator2) VELOCITY = 150.0  # mm/s ACCELERATION = 150.0  # mm/s^2 JERK = 150.0  # mm/s^3 OPTIONAL PARAMETER new_motion_profile = MotionProfile(    velocity=VELOCITY, acceleration=ACCELERATION, jerk=JERK ) # move_absolute_async will start the move and return without waiting for the move to complete. actuator_group.move_absolute_async(    position=TARGET_POSITIONS, motion_profile=new_motion_profile ) print("move started..") actuator_group.wait_for_move_completion() print("motion completed.") ``` ## MotionProfile MotionProfile: A dataclass that represents the motion profile of a move. args: ```python velocity (float): The velocity of the move in mm/s acceleration (float): The acceleration of the move in mm/s^2 jerk (float | None): The jerk of the move in mm/s^3. Defaults to None ``` If used in a continuous_move, only velocity and acceleration are required. If jerk is defined, an s-curve profile will be generated. Jerk option is commonly used to limit vibration due to sharp changes in motion profile. ## 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. ****configuration**** - **Description** The Robot configuration. - **Type** [RobotConfiguration](https://docs.vention.io/technicaldocumentation/docs/v21x#robotconfiguration) ****state**** - **Description** The current Robot state. - **Type** [RobotState](https://docs.vention.io/technicaldocumentation/docs/v21x#robotstate) ****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 - **joint_constraints** - **Description** A list of joint constraints. Length of list can be between 1 and number of joints on robot. - **Type** Optional[List[IGenericJointConstraint]] - **seed_position** - **Description** The seed joint angles, in degrees (as start position for IK search) - **Type** Optional[JointAnglesDegrees] - **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) ``` ****create_sequence**** - **Description** Creates a sequence-builder object for building a sequence of robot - **Returns** - **Description** A sequence builder object. - **Type** [SequenceBuilder](https://docs.vention.io/technicaldocumentation/docs/v21x#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_data] # 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_data] cartesian_velocity = 100.0  # millimeters per second cartesian_acceleration = 100.0  # millimeters per second squared blend_factor_1 = 0.5 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 ] joint_velocity = 10.0  # degrees per second joint_acceleration = 10.0  # degrees per second squared blend_factor_2 = 0.5 with my_robot.create_sequence() as seq:    seq.append_movel(        cartesian_waypoint,        cartesian_velocity,        cartesian_acceleration,        blend_factor_1,        reference_frame,    )    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](https://docs.vention.io/technicaldocumentation/docs/v21x#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_data] # 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_data] 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](https://docs.vention.io/technicaldocumentation/docs/v21x#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_data] # 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_data] 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 relative to the robot base, - **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** Optional[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** Optional[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 occurs def 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](https://docs.vention.io/technicaldocumentation/docs/v21x#robotoperationalstate), [RobotSafetyState](https://docs.vention.io/technicaldocumentation/docs/v21x#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 occurs def 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) ``` ****reconnect**** - **Description** It will disconnect then reconnect the MachineMotion to the robot. - **Parameters** - **timeout** - **Description** The timeout in seconds, after which an exception will be thrown, default is 15 seconds. - **Type** Union[float, None] - **Returns** - **Description** True if successful. - **Type** bool ```python from machinelogic import Machine machine = Machine() my_robot = machine.get_robot("Robot") # if no timeout argument is provided, the default timeout is 15 seconds did_reconnect = my_robot.reconnect() print(did_reconnect) ``` ****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) ``` ****set_tool_digital_output**** - **Description** Sets the value of a tool digital output. - **Parameters** - **pin** - **Description** The pin number. - **Type** int - **value** - **Description** The value to set, where 1 is high and 0 is low. - **Type** int - **Returns** - **Description** True if successful. - **Type** bool ```python from machinelogic import Machine machine = Machine() # New robot must be configured in the Configuration pane my_robot = machine.get_robot("Robot") # digital output identifier output_pin = 1 value = 0 is_successful = my_robot.set_tool_digital_output(output_pin, value) print(is_successful) ``` ****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** Optional[float] - **Returns** - **Description** True if successful. - **Type** bool - **Raises** - **Type** [RobotException](https://docs.vention.io/technicaldocumentation/docs/v21x#robotexception) - **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. ****(Deprecated) cartesian_position**** - **Description** (Deprecated) Use cartesian_position_data instead. - **Type** CartesianPose ```python from machinelogic import Machine machine = Machine() my_robot = machine.get_robot("Robot") # Note: cartesian_position has been deprecated in favor of cartesian_position_data 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}") ``` ****cartesian_position_data**** - **Description** A tuple of the robot current Cartesian position and the timestamp in seconds and milliseconds to epoch. - **Type** tuple[CartesianPose, [Timestamp](https://docs.vention.io/technicaldocumentation/docs/v21x#timestamp)] ```python from machinelogic import Machine machine = Machine() my_robot = machine.get_robot("Robot") end_effector_pose = my_robot.state.cartesian_position_data[0] timestamp = my_robot.state.cartesian_position_data[1] 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}") print(f"Timestamp: {timestamp}") ``` ****(Deprecated) joint_angles**** - **Description** (Deprecated) Use joint_angles_data instead. - **Type** JointAnglesDegrees ```python from machinelogic import Machine machine = Machine() my_robot = machine.get_robot("Robot") # Note: joint_angles has been deprecated in favor of joint_angles_data print(my_robot.state.joint_angles) ``` ****joint_angles_data**** - **Description** A tuple of the robot current joint angles and the timestamp in seconds and milliseconds to epoch. - **Type** tuple[JointAnglesDegrees, [Timestamp](https://docs.vention.io/technicaldocumentation/docs/v21x#timestamp)] ```python from machinelogic import Machine machine = Machine() my_robot = machine.get_robot("Robot") joint_angles = my_robot.state.joint_angles_data[0] timestamp = my_robot.state.joint_angles_data[1] print(f"Joint angles: {joint_angles}") print(f"Timestamp: {timestamp}") ``` ****move_in_progress**** - **Description** Check if the robot is currently moving. - **Type** bool ```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. - **Type** [RobotOperationalState](https://docs.vention.io/technicaldocumentation/docs/v21x#robotoperationalstate) ```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. - **Type** [RobotSafetyState](https://docs.vention.io/technicaldocumentation/docs/v21x#robotsafetystate) ```python from machinelogic import Machine machine = Machine() my_robot = machine.get_robot("Robot") print(my_robot.state.safety_state) ``` ****tcp_offset**** - **Description** The tool center point (TCP) offset, in mm and degrees, where the angles are extrinsic Euler angles in XYZ order. - **Type** CartesianPose ****get_digital_input_value**** - **Description** Returns the value of a digital input at a given pin. - **Parameters** - **pin** - **Description** The pin number. - **Type** int - **Returns** - **Description** True if the pin is high, False otherwise. - **Type** None ```python from machinelogic import Machine machine = Machine() my_robot = machine.get_robot("Robot") print(my_robot.state.get_digital_input_value(0)) ``` ## **RobotOperationalState** **Description**: The robot's operational state. - **OFFLINE**= 0 - **NON_OPERATIONAL**= 1 - **FREEDRIVE**= 2 - **NORMAL**= 3 - **UNKNOWN**= 4 - **NEED_MANUAL_INTERVENTION**= 5 ## **RobotSafetyState** **Description**: The robot's safety state. - **NORMAL**= 0 - **EMERGENCY_STOP**= 2 - **REDUCED_SPEED**= 3 - **SAFEGUARD_STOP**= 4 - **UNKNOWN**= 5 ## 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. - **Type** MillimetersPerSecond | None ```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. - **Type** DegreesPerSecond | None ```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. - **Type** str ```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. - **Type** str ```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. - **Type** str ```python from machinelogic import Machine machine = Machine() my_robot = machine.get_robot("Robot") print(my_robot.configuration.uuid) ``` ## Timestamp A timestamp since epoch, UTC attributes: ```python secs: seconds since epoch nsecs: nanoseconds since epoch ``` ## GenericJointConstraint A representation of a generic joint constraint. To be used within the compute_inverse_kinematics method of a robot. ****joint_index**** - **Description** The 1-based index of the robot joint - **Type** int ****position**** - **Description** The angle of the joint in degrees - **Type** float ****tolerance_above**** - **Description** The tolerance above the position in degrees - **Type** float ****tolerance_below**** - **Description** The tolerance below the position in degrees - **Type** float ****weighting_factor**** - **Description** A weighting factor for this constraint (denotes relative importance to other constraints, closer to zero means less important). - **Type** float ## 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. Defaults to 10.0. - **Type** DegreesPerSecond - **acceleration** - **Description** The acceleration of the move, in degrees per second squared. Defaults to 10.0. - **Type** DegreesPerSecondSquared - **blend_radius** - **Description** The blend radius of the move, in millimeters. Defaults to 0.0. - **Type** Millimeters - **Returns** - **Description** The builder. - **Type** [SequenceBuilder](https://docs.vention.io/technicaldocumentation/docs/v21x#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. Defaults to 100.0. - **Type** MillimetersPerSecond - **acceleration** - **Description** The acceleration of the move, in millimeters per second squared. Defaults to 100.0. - **Type** MillimetersPerSecondSquared - **blend_radius** - **Description** The blend radius of the move, in millimeters. Defaults to 0.0. - **Type** Millimeters - **reference_frame** - **Description** The reference frame for the target pose. Defaults to None. - **Type** CartesianPose - **Returns** - **Description** The builder. - **Type** [SequenceBuilder](https://docs.vention.io/technicaldocumentation/docs/v21x#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** The configuration of the DigitalInput. - **Type** [DigitalInputConfiguration](https://docs.vention.io/technicaldocumentation/docs/v21x#digitalinputconfiguration) ****state**** - **Description** The state of the DigitalInput. - **Type** [DigitalInputState](https://docs.vention.io/technicaldocumentation/docs/v21x#digitalinputstate) ```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** 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. - **Type** bool ## DigitalInputConfiguration Representation of the configuration of an DigitalInput/DigitalOutput. This configuration is established by the configuration page in MachineLogic. ****active_high**** - **Description** The value that needs to be set to consider the DigitalInput/DigitalOutput as active. - **Type** bool ****controller_id**** - **Description** The MachineMotion controller id of the DigitalInput/DigitalOutput. - **Type** str ****controller_port**** - **Description** The MachineMotion controller port of the DigitalInput/DigitalOutput. - **Type** int ****device_id**** - **Description** The device number of the DigitalInput/DigitalOutput. - **Type** int ****name**** - **Description** The name of the DigitalInput/DigitalOutput. - **Type** str ****pin**** - **Description** The pin number of the DigitalInput/DigitalOutput. - **Type** int ****uuid**** - **Description** The unique ID of the DigitalInput/DigitalOutput. - **Type** str ## 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** The configuration of the Output. - **Type** [DigitalOutputConfiguration](https://docs.vention.io/technicaldocumentation/docs/v21x#digitaloutputconfiguration) ****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](https://docs.vention.io/technicaldocumentation/docs/v21x#digitaloutputexception) - **Description** If we fail to write the value to the Output. ```python from machinelogic import Machine 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** The value that needs to be set to consider the DigitalInput/DigitalOutput as active. - **Type** bool ****controller_id**** - **Description** The MachineMotion controller id of the DigitalInput/DigitalOutput. - **Type** str ****controller_port**** - **Description** The MachineMotion controller port of the DigitalInput/DigitalOutput. - **Type** int ****device_id**** - **Description** The device number of the DigitalInput/DigitalOutput. - **Type** int ****name**** - **Description** The name of the DigitalInput/DigitalOutput. - **Type** str ****pin**** - **Description** The pin number of the DigitalInput/DigitalOutput. - **Type** int ****uuid**** - **Description** The unique ID of the DigitalInput/DigitalOutput. - **Type** str ## 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** The configuration of the actuator. - **Type** [PneumaticConfiguration](https://docs.vention.io/technicaldocumentation/docs/v21x#pneumaticconfiguration) ****state**** - **Description** The state of the actuator. - **Type** typing.Literal['pushed', 'pulled', 'transition', 'unknown'] ****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. ## PneumaticConfiguration Representation of a Pneumatic configuration. ****controller_id**** - **Description** The MachineMotion controller id. - **Type** str ****controller_port**** - **Description** The MachineMotion controller port of the io module that controls the pneumatic axis. - **Type** int ****device_id**** - **Description** The device id of the io module that controls the pneumatic axis. - **Type** int ****input_pin_pull**** - **Description** The optional pull in pin. - **Type** typing.Optional[int] ****input_pin_push**** - **Description** The optional push in pin. - **Type** typing.Optional[int] ****name**** - **Description** The name of the Pneumatic. - **Type** str ****output_pin_pull**** - **Description** The pull out pin of the axis. - **Type** int ****output_pin_push**** - **Description** The push out pin of the axis. - **Type** int ****uuid**** - **Description** The ID of the Pneumatic. - **Type** str ## 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** The configuration of the ACMotor. - **Type** [ACMotorConfiguration](https://docs.vention.io/technicaldocumentation/docs/v21x#acmotorconfiguration) ****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. ****controller_id**** - **Description** The MachineMotion controller id - **Type** str ****controller_port**** - **Description** The MachineMotion controller port of the io module that controls the ac_motor. - **Type** int ****device_id**** - **Description** The device id of the io module of the ac_motor. - **Type** int ****name**** - **Description** The name of the Pneumatic. - **Type** str ****output_pin_direction**** - **Description** The push out pin of the axis. - **Type** typing.Optional[int] ****output_pin_move**** - **Description** The pull out pin of the axis. - **Type** int ****uuid**** - **Description** The ID of the Pneumatic. - **Type** str ## 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: https://vention.io/resources/guides/path-following-interface-391#parser-configuration ****state**** - **Description** Current state of the path follower - **Type** [PathFollowerState](https://docs.vention.io/technicaldocumentation/docs/v21x#pathfollowerstate) ****add_tool**** - **Description** Add a tool to be referenced by the M(3-5) $[tool_id] commands - **Parameters** - **tool_id** - **Description** Unique integer defining tool id. - **Type** int - **m3_output** - **Description** Output to map to the M3 Gcode command - **Type** [DigitalOutput](https://docs.vention.io/technicaldocumentation/docs/v21x#digitaloutput) - **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 import time 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 """ path_follower = PathFollower(x_axis, y_axis) # Run your Gcode path_follower.start_path_async(GCODE) PATH_IN_PROGRESS = True while 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,        }    ) ``` ****stop_path**** - **Description** Abruptly stop the path following procedure. - **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** The current tool acceleration in millimeters/second^2 - **Type** float ****current_command**** - **Description** In-progress command of gcode script. - **Type** typing.Optional[str] ****error**** - **Description** A description of errors encountered during path execution. - **Type** typing.Optional[str] ****line_number**** - **Description** Current line number in gcode script. - **Type** int ****running**** - **Description** True if path following in progress. - **Type** bool ****speed**** - **Description** The current tool speed in millimeters/second - **Type** float ## 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** [CalibrationFrame](https://docs.vention.io/technicaldocumentation/docs/v21x#calibrationframe) - **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 "New Calibration Frame" calibration_frame = scene.get_calibration_frame("New Calibration Frame") default_value = calibration_frame.get_default_value() print(default_value) ``` ****get_cartesian_target**** - **Description** Gets a cartesian target from scene assets by name - **Parameters** - **name** - **Description** Friendly name of the cartesian target asset - **Type** str - **Returns** - **Description** The found cartesian target - **Type** [CartesianTarget](https://docs.vention.io/technicaldocumentation/docs/v21x#cartesiantarget) - **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 cartesian target defined # in Scene Assets called "New Cartesian Target" cartesian_target = scene.get_cartesian_target("New Cartesian Target") # Use the cartesian target instance to get the position relative to its parent reference frame. # Note: see the get_position example in the CartesianTarget class documentation for # more details on the get_position method. default_position = cartesian_target.get_position() print(default_position) ``` ****get_joint_target**** - **Description** Gets a joint target from scene assets by name - **Parameters** - **name** - **Description** Friendly name of the joint target asset - **Type** str - **Returns** - **Description** The found joint target - **Type** [JointTarget](https://docs.vention.io/technicaldocumentation/docs/v21x#jointtarget) - **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 joint target defined # in Scene Assets called "New Joint Target" joint_target = scene.get_joint_target("New Joint Target") joint_angles = joint_target.get_joint_angles() print(joint_angles) ``` ****get_reference_frame**** - **Description** Gets a reference frame from scene assets by name - **Parameters** - **name** - **Description** Friendly name of the reference frame asset - **Type** str - **Returns** - **Description** The found reference frame - **Type** [ReferenceFrame](https://docs.vention.io/technicaldocumentation/docs/v21x#referenceframe) - **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 reference frame defined # in Scene Assets called "New Reference Frame" reference_frame = scene.get_reference_frame("New Reference Frame") # Use the reference frame instance to get its position relative to its parent reference frame. # Note: see the get_position example in the ReferenceFrame class documentation for # more details on the get_position method. default_position = reference_frame.get_position() print(default_position) ``` ## 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 "New Calibration Frame" calibration_frame = scene.get_calibration_frame("New Calibration Frame") 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 ```python from machinelogic import Machine machine = Machine() scene = machine.get_scene() # Assuming we have a calibration frame defined # in Scene Assets called "New Calibration Frame" calibration_frame = scene.get_calibration_frame("New Calibration Frame") 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 "New Calibration Frame" calibration_frame = scene.get_calibration_frame("New Calibration Frame") # 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) ``` ## ReferenceFrame A reference 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_position**** - **Description** Gets the reference frame's position. If the reference frame underwhich the position is requested is calibrated, - **Parameters** - **relative_to** - **Description** The reference frame's position relative to the robot base or its parent reference frame. Defaults to "parent". - **Type** Literal["robot_base", "parent"] - **Returns** - **Description** The position of the reference 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 position ```python from machinelogic import Machine machine = Machine() scene = machine.get_scene() # Assuming we have a reference frame defined # in Scene Assets called "New Reference Frame" reference_frame = scene.get_reference_frame("New Reference Frame") # You can specify the relative_to parameter to get the position # relative its "parent" frame or the "robot_base" frame. Default is "parent". reference_frame_wrt_parent = reference_frame.get_position(relative_to="parent") print(reference_frame_wrt_parent) reference_frame_wrt_robot_base = reference_frame.get_position(relative_to="robot_base") print(reference_frame_wrt_robot_base) ``` ## CartesianTarget A cartesian target, 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_position**** - **Description** Gets the cartesian target's pose values. If the reference frame underwich the position is requested is calibrated, - **Parameters** - **relative_to** - **Description** The reference frame to which the position is relative. Defaults to "parent". - **Type** Literal["robot_base", "parent"] - **Returns** - **Description** The pose of the cartesian target 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 ```python from machinelogic import Machine machine = Machine() scene = machine.get_scene() # Assuming we have a cartesian target defined # in Scene Assets called "New Cartesian Target" cartesian_target = scene.get_cartesian_target("New Cartesian Target") # You can specify the relative_to parameter to get the position # relative its "parent" frame or the "robot_base" frame. Default is "parent". cartesian_target_wrt_parent = cartesian_target.get_position(relative_to="parent") print(cartesian_target_wrt_parent) cartesian_target_wrt_robot_base = cartesian_target.get_position(    relative_to="robot_base" ) print(cartesian_target_wrt_robot_base) # Important: In order to move to the position obtained from the Cartesian Target, you must use the # value obtained from the position relative to the robot_base: my_robot = machine.get_robot("Robot") my_robot.movel(cartesian_target_wrt_robot_base) ``` ## JointTarget A joint target is a representation of a target position for a robot's joints. It is defined by the joint angles in degrees. ****get_joint_angles**** - **Description** Gets the joint target's default values. - **Returns** - **Description** The nominal value of the joint target in degrees. - **Type** JointAnglesDegrees [j1_deg, j2_deg, j3_deg, j4_deg, j5_deg, j6_deg] - **Raises** - **Type** SceneException - **Description** If failed to get the default value ```python from machinelogic import Machine machine = Machine() scene = machine.get_scene() # Assuming we have a joint target defined # in Scene Assets called "New Joint Target" joint_target = scene.get_joint_target("New Joint Target") joint_angles = joint_target.get_joint_angles() print(joint_angles) ``` ## ActuatorException An exception thrown by an Actuator Args: ```python VentionException (VentionException): Super class ``` ****with_traceback**** - **Description** Exception.with_traceback(tb) -- ## MachineException An exception thrown by the Machine Args: ```python Exception (VentionException): Super class ``` ****with_traceback**** - **Description** Exception.with_traceback(tb) -- ## RobotException An exception thrown by a Robot Args: ```python VentionException (VentionException): Super class ``` ****with_traceback**** - **Description** Exception.with_traceback(tb) -- ## MachineMotionException An exeption thrown by a MachineMotion Args: ```python VentionException (VentionException): Super class ``` ****with_traceback**** - **Description** Exception.with_traceback(tb) -- ## DigitalInputException An exception thrown by an INput Args: ```python VentionException (VentionException): Super class ``` ****with_traceback**** - **Description** Exception.with_traceback(tb) -- ## DigitalOutputException An exception thrown by an Output Args: ```python VentionException (VentionException): Super class ``` ****with_traceback**** - **Description** Exception.with_traceback(tb) -- ## ActuatorGroupException An exception thrown by an ActuatorGroup Args: ```python VentionException (VentionException): Super class ``` ****with_traceback**** - **Description** Exception.with_traceback(tb) -- ## PathFollowingException An exception thrown by a path following operation Args: ```python VentionException(__type__): Super class ``` ****with_traceback**** - **Description** Exception.with_traceback(tb) --