machine-logic-sdk

Provides a programmatic interface in Python to control Vention hardware and coordinate automation programs. This SDK enables developers to build custom applications that interact with Vention's MachineMotion platform, robots, actuators, and I/O devices.

Features

• Robot Control: Move robots, set tool center points, compute kinematics
• Machine Automation: Control actuators, pneumatics, and motors
• I/O Management: Read sensors and control digital outputs
• Real-time Monitoring: Access live robot positions, states, and sensor data
• Safety Integration: Built-in safety state monitoring and emergency stops

Installation

Install the machine-logic-sdk from PyPI:

pip install machine-logic-sdk

Compatibility:

Please pay close attention to the compatibility table provided in the Official machine-logic-sdk Documentation to determine which version of the sdk is compatible with your version of MachineMotion.

For development installations, see the Development section below.

Quick Start

Here's a simple example to get started: Assumptions:

• Robot is configured with friendly name "Robot"
• Digital Input is configured with friendlt name "Sensor_1"

from machinelogic import Machine

# Connect to your machine
machine = Machine()

# Get a robot and move it
robot = machine.get_robot("Robot")
target_position = [100.0, 200.0, 300.0, 0.0, 90.0, 0.0]  # [x, y, z, rx, ry, rz]
robot.movel(target_position)

# Read a digital input (assuming "Sensor_1" is configured)
input_device = machine.get_input("Sensor_1")
sensor_value = input_device.state
print(f"Sensor reading: {sensor_value}")

Requirements

• Python 3.10.x (Python 3.10.12 is shipped on MachineMotionAI devices)
• Python 3.9.x (Python 3.9 is shipped on MachineMotion v2 devices)
• MachineMotion Controller or compatible Vention hardware
• Network connection to your MachineMotion device

Note: Higher Python versions (up to 3.11) are supported for development, but Python 3.10 is recommended for compatibility with MachineMotionAI devices.

Basic Usage

Connecting to Your Machine

from machinelogic import Machine

# Connect to local machine (default)
machine = Machine()

or Connect to remote machine

from machinelogic import Machine

# Connect to a remote machine
machine = Machine(ip="192.168.7.2")

Robot Operations

from machinelogic import Machine

machine = Machine()

# Get robot instance
robot = machine.get_robot("Robot")

# Move to position (linear movement)
robot.movel([100, 200, 300, 0, 90, 0])

# Move joints directly
robot.movej([0, -90, 90, 0, 90, 0])

# Get current position
current_pose = robot.state.cartesian_position
joint_angles = robot.state.joint_angles

Actuator Control

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
    ),
    timeout=10,  # seconds
)

I/O Operations

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")

Examples

The SDK includes comprehensive examples in the examples/ directory.

These examples can also be found in the Official machine-logic-sdk Docs

• Robot Control: Movement, kinematics, tool center points
• Automation Sequences: Multi-step operations and coordination
• I/O Integration: Sensor reading and output control
• Error Handling: Safety and exception management

Browse the examples directory for complete, runnable** code samples.

**Note: You must ensure the devices in the example have been configured in the CAD and properly identified by the friendly name used in the example code.

Development

System Setup (Ubuntu/MachineMotion)

Install Python 3.10.12 on Ubuntu:

sudo apt install python3.10
python3 --version  # Verify installation

If you have multiple Python versions, ensure python3 points to 3.10:

cd /usr/bin
sudo unlink python3
sudo ln -s /usr/bin/python3.10 python3

Install required packages:

sudo apt-get install python3-apt python3-virtualenv python3.10-venv

Development Environment

Create and activate a virtual environment:

python3 -m venv venv
source venv/bin/activate
pip install --upgrade pip

Documentation

• Official machine-logic-sdk Documentation - Complete API reference
• Examples Directory - Runnable code examples for all features

Ready to automate? Install the SDK and check out the examples to get started with your first automation project!