Core Concepts

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Layers and responsibilities

• Communication: TCP socket, CR+LF framing, and synchronization. It does not interpret device commands.

• PM2CDDevice: device-specific command construction, response parsing, and input validation.

• PM2CDsingle: single-process public interface, including motor selection and motion completion detection.

• PM2CD: multiprocess public interface built on ProcessExecutor, using a shared Communication instance and SharedContext.

Important distinctions

The motor property selects the channel used when a method omits its motor argument. move(..., relative=False) specifies an absolute position, while relative=True specifies a relative displacement. wait_for_complete() uses the most recent motion context to distinguish an intermediate stop during backlash compensation from final completion.

The multiprocess implementation does not create a separate TCP connection for every worker; it shares and serializes communication.

Before moving hardware, verify wiring, limit switches, travel direction, and permissible travel. The examples have not been run against a physical controller.