v4.2

Python API Version 4.2

Date: September 8^th 2021

Python API supports Python 3.7.3 and older. Python-API v4.2 has been updated to support the following:

• For Linux and Mac machines, it is now possible to install the Python api system-wide. To update or install a Python API version, navigate to the folder with the new Python API and run:

  make install

• Simplified declaration of a new MachineMotion object. Creation of a MachineMotionv2 can be done as follows:

  mm = MachineMotionV2()

  mm = MachineMotionV2OneDrive()

• Push Button and Power Switch modules are now supported.

• Axes containing multiple drives can be configured and controlled as one.

• Combined moves with the 4th drive are now allowed.

• Enclosed ball screw is now supported.

• Some function names have been changed to reflect MachineLogic naming. The old names are deprecated, but will still work. These functions are:

  • emitSpeed -> setSpeed
  • emitAcceleration -> setAcceleration
  • emitRelativeMove -> moveRelative
  • emitAbsoluteMove -> moveToPosition
  • emitCombinedAxesRelativeMove -> moveRelativeCombined
  • emitCombinedAxesAbsoluteMove -> moveToPositionCombined
  • emitContinuousMove -> moveContinuous
  • emitHome -> moveToHome
  • emitHomeAll -> moveToHomeAll

• There is no directions field in moveRelative, moveRelativeCombined. Simply put a positive or negative distance to set the direction of movement.

• moveToHome is not a blocking function. To block a script while homing, simply add a waitForMotionCompletion when desired.

Known Issues

• If using the python API to control motors, you must first configure your actuators with the python API. Failure to do so can result in unexpected behaviour.

v1.6.8

Release Note: Version 1.6.8

• Date: September 27^th, 2019
• Released by: Francois Giguere

Compatibility

Interface Changes

• New interfaces added

Obsoleted Interfaces

• none

New Interfaces

• setPosition
• setAxisDirection
• emitCombinedAxisRelativeMove
• emitCombinedAxesAbsoluteMove

Improvements:

• Added the multi-axis move commands
• Revised the entire API document
• Revised all examples and updated them to reflect all new changes

Bug Fixes:

• Fixed bug that was present in the writeControlDevice function that was using the v2.1 Python version nomenclature in the MQTT topics.

MachineMotion Python API - v2.1

Version 2.1

Date: 2019-09-12

The MachineMotion Python API V2.0 aims at simplifying the interfaces to the digital input / outputs and the encoder position.

Compatibility

The Python API V2 requires MachineMotion version V1.12 or newer. Please use mm-python-api V1.6.7 for prior version of MachineMotion software.

Interface changes

Obsoleted interfaces

• attachControlDevice
• detachControlDevice
• readControlDevice
• writeControlDevice

New interfaces:

• isIoExpanderAvailable(device)
• digitalRead(device, pin)
• digitalWrite(device, pin, value)
• readEncoderRealtimePosition(device)

MachineMotion Python API - v1.6.7

Version 1.6.7

Date: July 16^th, 2019

Improvements:

• Added support for Python3 and Python2.
• Updated the REAMDME to include the new MQTT library dependency.

MachineMotion Python API - v1.6.5

Version: 1.6.5

Date: July 3 2019

Bug Fixes:

• Fix Line Number mismatch with the help of the 'resend' message
• Fix application hang on termination

New Features:

• Support for the rotatory indexer with constants for mechanical gain.

Improvements:

• Added more examples for each sensor port for the different control devices functions.
• Auto reconnect on connection loss
• Instead of starting a new thread each 0.1 seconds, we now start one thread at the beginning and keep it alive forever to receive messages from the server