Festo Applied Motion

festo-dev-applied-motion is a Python library for controlling Festo electrically driven motion components through a common gantry API.

It supports:

Install from a package registry:

uv add festo-dev-applied-motion

Install the current repository in editable mode:

git clone https://github.com/Festo-se/festo-dev-applied-motion.git
cd festo-dev-applied-motion
uv pip install -e .

For the optional commissioning CLI, install the cli extra:

uv add "festo-dev-applied-motion[cli]"

Create a JSON configuration for the gantry, then load it with Gantry.from_config:

from collections import deque

from applied_motion import Gantry

with Gantry.from_config("gantry.json", name="gantry_1") as gantry:
	gantry.home()
	gantry.move_to(
		deque([
			{"X": {"position": 150.0, "velocity": 80.0}},
		])
	)
	print(gantry.get_location())

Positions are measured in millimetres (mm) and velocities in millimetres per second (mm/s).

Gantry.from_config accepts a configuration dictionary or a path to a JSON file. The repository includes gantry.json as a reference configuration containing both backend styles.

The relevant component is located at component_config.components.<gantry_name>:

{
	"spec_version": "3.0",
	"component_config": {
		"components": {
			"gantry_1": {
				"backend": "fposbapi",
				"interface": {
					"type": "tcp/ip",
					"ip": "192.168.10.25",
					"port": 1234
				},
				"axes": {
					"X": {"name": "X", "index": 1},
					"Y": {"name": "Y", "index": 2},
					"Z": {"name": "Z", "index": 3}
				},
				"axis_order": ["X", "Y", "Z"],
				"concurrent_axes": null
			}
		}
	}
}

For a Modbus gantry, set backend to "modbus" and configure each axis with its drive IP instead:

{
	"backend": "modbus",
	"axes": {
		"X": {"name": "X", "ip": "192.168.0.100"},
		"Y": {"name": "Y", "ip": "192.168.0.101"}
	},
	"axis_order": ["X", "Y"],
	"concurrent_axes": ["X", "Y"]
}

Gantry provides a backend-independent interface for common operations:

• home() — home all axes.
• move_to(movements, timeout=None, concurrent=False) — execute queued single-axis moves sequentially or concurrently.
• get_location() — read the current position of every axis.
• get_status() — return per-axis state, aggregate health, and controller diagnostics where available.
• is_stopped() and is_ready_for_motion() — query aggregate axis state.
• supports_teach(), teach_pos(), and teach_tray() — use PLC teaching operations when supported by FPosBAPI.
• list_commands() — list available backend commands.

Movement entries are single-axis dictionaries. Set position_type to "relative" for relative motion; absolute motion is the default:

from collections import deque

movements = deque(
	[
		{"X": {"position": 120.0, "velocity": 60.0}},
		{"Y": {"position": 10.0, "velocity": 30.0, "position_type": "relative"}},
	]
)
gantry.move_to(movements)

The optional CLI provides an interactive motion shell and one-shot commands:

applied-motion --config gantry.json status
applied-motion --config gantry.json where
applied-motion --config gantry.json home
applied-motion --config gantry.json jog X + 5
applied-motion --config gantry.json shell

Use --help for command-specific options. The teach-pos and teach-tray commands are available for FPosBAPI configurations.

• Getting started
• FPosBAPI user guide
• Modbus / festo-edcon user guide
• CLI reference
• FPosBAPI examples
• Modbus / festo-edcon examples
• examples/ directory

Install development dependencies and run the test suite:

uv sync
uv run pytest

Hardware-dependent tests are marked with hardware and can be excluded with -m "not hardware".