machine-logic-sdk 3.0.0

SDK for controlling Vention hardware

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

Table of Contents

1. Installation
2. Quick Start
3. Requirements
4. Basic Usage
5. Examples
6. Development
7. Documentation
8. Contributing
9. Support

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

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