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) 2022-2025 WPC Systems Ltd. All rights reserved.
 12'''
 13
 14## WPC
 15from wpcsys import pywpc
 16
 17## Python
 18import asyncio
 19import sys
 20sys.path.insert(0, 'src/')
 21
 22
 23async def main():
 24    ## Get Python driver version
 25    print(f'{pywpc.PKG_FULL_NAME} - Version {pywpc.__version__}')
 26
 27    ## Create device handle
 28    dev = pywpc.EDriveST()
 29
 30    ## Connect to device
 31    try:
 32        dev.connect("192.168.1.110")  ## Depend on your device
 33    except Exception as err:
 34        pywpc.printGenericError(err)
 35        ## Release device handle
 36        dev.close()
 37        return
 38
 39    try:
 40        ## Parameters setting
 41        port = 0  ## Depend on your device
 42        position = 50000
 43        speed = 50000
 44        acceleration = 10000
 45        deceleration = 10000
 46        mode = 1  ## 0: absolute, 1: relative.
 47        active_high = 1
 48        en_forward = 1
 49        en_reverse = 1
 50
 51        ## Get firmware model & version
 52        driver_info = await dev.Sys_getDriverInfo_async()
 53        print(f"Model name: {driver_info[0]}, Firmware version: {driver_info[-1]} ")
 54
 55        ## Motion open
 56        err = await dev.Motion_open_async(port)
 57        print(f"Motion_open, status: {err}")
 58
 59        ## Motion configure
 60        err = await dev.Motion_cfgLimit_async(port, en_forward, en_reverse, active_high)
 61        print(f"Motion_cfgLimit, status: {err}")
 62
 63        ## Motion reset
 64        err = await dev.Motion_rstEncoderPosi_async(port)
 65        print(f"Motion_resetEncoder, status: {err}")
 66
 67        ## Motion Servo on
 68        err = await dev.Motion_enableServoOn_async(port)
 69        print(f"Motion_enableServoOn, status: {err}")
 70
 71        ## Motion start
 72        err = await dev.Motion_startPositionMove_async(port, position, speed, acceleration, deceleration, mode)
 73        print(f"Motion_startPositionMove, status: {err}")
 74
 75        status = 1
 76        while status != 0:
 77            status = await dev.Motion_getProcessState_async(port)
 78            if status == 0:
 79                print(f"Motion_getProcessState: {status}")
 80
 81    except Exception as err:
 82        pywpc.printGenericError(err)
 83    except KeyboardInterrupt:
 84        print("Press keyboard")
 85    finally:
 86        ## Motion stop
 87        err = await dev.Motion_stopProcess_async(port)
 88        print(f"Motion_stopProcess, status: {err}")
 89
 90        ## Motion Servo off
 91        err = await dev.Motion_enableServoOff_async(port)
 92        print(f"Motion_enableServoOff, status: {err}")
 93
 94        ## Motion close
 95        err = await dev.Motion_close_async(port)
 96        print(f"Motion_close, status: {err}")
 97
 98        ## Disconnect device
 99        dev.disconnect()
100
101        ## Release device handle
102        dev.close()
103
104
105def main_for_spyder(*args):
106    if asyncio.get_event_loop().is_running():
107        return asyncio.create_task(main(*args)).result()
108    else:
109        return asyncio.run(main(*args))
110
111
112if __name__ == '__main__':
113    asyncio.run(main())  ## Use terminal
114    # await main()  ## Use Jupyter or IPython(>=7.0)
115    # main_for_spyder()  ## Use Spyder