Manual Reference

Public control classes

Class	Role
`pm2cd.pm2cd_single.PM2CDsingle`	Single-process controller
`pm2cd.pm2cd_ctrl.PM2CD`	Multiprocess controller
`pm2cd.pm2cd_device.PM2CDDevice`	Device command layer
`pm2cd.core.communication_tcp.Communication`	TCP transport

Common operations

API	Purpose
`get_position(motor)`	Read current position
`move(target, motor, backlash, relative)`	Absolute or relative motion
`move_relative(target, motor, backlash)`	Relative motion
`wait_for_complete(motor, timeout_sec, interval_sec, target_position, show_position)`	Wait for motion completion
`stop(motor)` / `emergency_stop(motor)`	Controlled / emergency stop
`get_status(motor)` / `get_status_all()`	Read motor status
`set_speed(motor, ...)` / `get_speed(motor)`	Set / read speed (see generated API for exact arguments)
`get_limit(motor, ...)` / `set_limit(motor, ...)`	Software limits (see generated API for exact arguments)

Boolean results generally indicate success or failure. Read operations may return None on failure. Invalid arguments can raise exceptions.

Motion signatures

move(target: int, motor: Optional[int] = None, backlash: Union[str, bool, None] = True, relative: bool = False) -> bool
move_relative(target: int, motor: Optional[int] = None, backlash: Union[str, bool, None] = True) -> bool

Implementation-defined limits

PM2CDDevice defines position limits of -8388608 to 8388607, speed limits of 5 to 100000 pps, backlash limits of -9999 to 9999, and hold times of 50 to 3000 ms. Refer to the implementation for method-specific validation.

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