MovingCap Ethernet Drives - Software Manual

Example program

Description

mcdriveModuleOverview.py

Demonstrates every single command of the mcdrive module in a functional test program for the MovingCap drive

driveSimplePosTest.py

A simple positioning application

Python module / import command

.pyi documentation file *1)

Description

import mcdrive.py

or abbreviate the name as:
import mcdrive.py as mc

mcdrive.pyi

Alternatives in other languages:
en/mcdrive.pyi
fr/mcdrive.pyi
it/mcdrive.pyi
es/mcdrive.pyi

MovingCap drive functions for setup and movement, as well as writing and reading CiA 402 objects.

The associated .pyi file shows definitions and descriptions of all available commands.

TIP: To obtain the documentation in a language other than English, copy the mcdrive.pyi version from the appropriate subdirectory.

import sys

sys.pyi

System-specific functions for program flow, time control and version detection, in particular sys.cycle_time_ms(x)

NOTE: The following functions are supported for compatibility with older versions and MovingCap CAN bus motors with Pymite/Python-on-a-chip:
sys.time
sys.wait
For new applications, use sys.cycle_time_ms or the functions of the time module.

import time

time.pyi

Time functions, part of the Micropython utime/time module. Common functions:

time.sleep_ms(x) - waits x milliseconds, replaces sys.time from older examples, see above.

start = time.ticks_ms()
elapsed = time.ticks_diff(time.ticks_ms(), start)

import mcnet

mcnet.py

MovingCap communication functions for network.

Allows you to manage application-specific socket connections - open/close/read/write. TCP server, TCP client, UDP server and UDP peer/client connections are possible.

import refgo

refgo.pyi

1) Accepts RefGo commands in text form, as an alternative to the mcdrive module.
 
Example: You can use refgo.cmd("TS") to query the drive status.

TIP: Example in the movingcap.de service portal, search there for UsingRefGoCommandsFromPythonScript.

2) Allows you to extend the RefGo protocol / TCP port 10001 with additional/your own commands or to execute additional reactions for existing RefGo commands.
 
TIP: Examples in the movingcap.de service portal, search there for refGoExtension.