Drive position move

  1'''
  2Drive - Drive_position_move.py with asynchronous mode.
  3
  4-------------------------------------------------------------------------------------
  5Please change correct serial number or IP and port number BEFORE you run example code.
  6
  7For other examples please check:
  8    https://github.com/WPC-Systems-Ltd/WPC_Python_driver_release/tree/main/examples
  9See README.md file to get detailed usage of this example.
 10
 11Copyright (c) 2022-2024 WPC Systems Ltd. All rights reserved.
 12'''
 13
 14## Python
 15import asyncio
 16
 17## WPC
 18
 19from wpcsys import pywpc
 20
 21async def main():
 22    ## Get Python driver version
 23    print(f'{pywpc.PKG_FULL_NAME} - Version {pywpc.__version__}')
 24
 25    ## Create device handle
 26    dev = pywpc.EDriveST()
 27
 28    ## Connect to device
 29    try:
 30        dev.connect("192.168.1.110") ## Depend on your device
 31    except Exception as err:
 32        pywpc.printGenericError(err)
 33        ## Release device handle
 34        dev.close()
 35        return
 36
 37    try:
 38        ## Parameters setting
 39        port = 0 ## Depend on your device
 40        position = 50000
 41        speed = 50000
 42        acceleration = 10000
 43        deceleration = 10000
 44        mode = 1 ## 0: absolute, 1: relative.
 45        active_high = 1
 46        en_forward = 1
 47        en_reverse = 1
 48
 49        ## Get firmware model & version
 50        driver_info = await dev.Sys_getDriverInfo_async()
 51        print("Model name: " + driver_info[0])
 52        print("Firmware version: " + driver_info[-1])
 53
 54        ## Motion open
 55        err = await dev.Motion_open_async(port)
 56        print(f"Motion_open, status: {err}")
 57
 58        ## Motion configure
 59        err = await dev.Motion_cfgLimit_async(port, en_forward, en_reverse, active_high)
 60        print(f"Motion_cfgLimit, status: {err}")
 61
 62        ## Motion reset
 63        err = await dev.Motion_rstEncoderPosi_async(port)
 64        print(f"Motion_resetEncoder, status: {err}")
 65
 66        ## Motion Servo on
 67        err = await dev.Motion_enableServoOn_async(port)
 68        print(f"Motion_enableServoOn, status: {err}")
 69
 70        ## Motion start
 71        err = await dev.Motion_startPositionMove_async(port, position, speed, acceleration, deceleration, mode)
 72        print(f"Motion_startPositionMove, status: {err}")
 73
 74        status = 1
 75        while status != 0 :
 76            status = await dev.Motion_getProcessState_async(port)
 77            if(status == 0):
 78                print(f"Motion_getProcessState: {status}")
 79
 80    except Exception as err:
 81        pywpc.printGenericError(err)
 82    except KeyboardInterrupt:
 83        print("Press keyboard")
 84    finally:
 85        ## Motion stop
 86        err = await dev.Motion_stopProcess_async(port)
 87        print(f"Motion_stopProcess, status: {err}")
 88
 89        ## Motion Servo off
 90        err = await dev.Motion_enableServoOff_async(port)
 91        print(f"Motion_enableServoOff, status: {err}")
 92
 93        ## Motion close
 94        err = await dev.Motion_close_async(port)
 95        print(f"Motion_close, status: {err}")
 96
 97    ## Disconnect device
 98    dev.disconnect()
 99
100    ## Release device handle
101    dev.close()
102
103def main_for_spyder(*args):
104    if asyncio.get_event_loop().is_running():
105        return asyncio.create_task(main(*args)).result()
106    else:
107        return asyncio.run(main(*args))
108
109if __name__ == '__main__':
110    asyncio.run(main()) ## Use terminal
111    # await main() ## Use Jupyter or IPython(>=7.0)
112    # main_for_spyder() ## Use Spyder