Motion 1axis move

  1'''
  2Motion - Motion_1axis_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.EMotion()
 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        axis = 0
 43        two_pulse_mode = 1
 44        rel_posi_mode = 1
 45        stop_decel = 0
 46
 47        ## Axis and encoder parameters
 48        axis_dir_cw = 0
 49        encoder_dir_cw = 0
 50
 51        ## Polarity and enable parameters
 52        active_low = 0
 53        active_high = 1
 54        forward_enable_true = 1
 55        reverse_enable_true = 1
 56        home_enable_false = 0
 57
 58        ## Get firmware model & version
 59        driver_info = await dev.Sys_getDriverInfo_async()
 60        print(f"Model name: {driver_info[0]}, Firmware version: {driver_info[-1]} ")
 61
 62        ## Motion open
 63        err = await dev.Motion_open_async(port)
 64        print(f"open_async in port {port}, status: {err}")
 65
 66        '''
 67        ## Motion open configuration file
 68        err = await dev.Motion_openCfgFile_async('C:/Users/user/Desktop/3AxisStage_2P.ini')
 69        print(f"openCfgFile_async, status: {err}")
 70
 71        ## Motion load configuration file
 72        err = await dev.Motion_loadCfgFile_async()
 73        print(f"loadCfgFile_async, status: {err}")
 74        '''
 75
 76        ## Motion configure
 77        err = await dev.Motion_cfgAxis_async(port, axis, two_pulse_mode, axis_dir_cw, encoder_dir_cw, active_low)
 78        print(f"cfgAxis_async in axis{axis}, status: {err}")
 79
 80        err = await dev.Motion_cfgLimit_async(port, axis, forward_enable_true, reverse_enable_true, active_low)
 81        print(f"cfgLimit_async in axis{axis}, status: {err}")
 82
 83        err = await dev.Motion_cfgHome_async(port, axis, home_enable_false, active_low)
 84        print(f"cfgHome_async in axis{axis}, status: {err}")
 85
 86        err = await dev.Motion_cfgAxisMove_async(port, axis, rel_posi_mode, target_posi=5000, velo=10000, accel=100000, decel=100000)
 87        print(f"cfgAxisMove_async in axis{axis}, status: {err}")
 88
 89        err = await dev.Motion_rstEncoderPosi_async(port, axis, encoder_posi=0)
 90        print(f"rstEncoderPosi_async in axis{axis}, status: {err}")
 91
 92        ## Servo on
 93        err = await dev.Motion_enableServoOn_async(port, axis)
 94        print(f"enableServoOn_async in axis{axis}, status: {err}")
 95
 96        ## Motion start
 97        err = await dev.Motion_startSingleAxisMove_async(port, axis)
 98        print(f"startSingleAxisMove_async in axis{axis}, status: {err}")
 99
100        move_status = 0
101        while move_status == 0:
102            move_status = await dev.Motion_getMoveStatus_async(port, axis)
103            logical_posi = await dev.Motion_getLogicalPosi_async(port, axis)
104            encoder_posi = await dev.Motion_getEncoderPosi_async(port, axis)
105            print(f"logical_posi: {logical_posi}, encoder_posi: {encoder_posi}")
106
107        ## Motion stop
108        err = await dev.Motion_stop_async(port, axis, stop_decel)
109        print(f"stop_async in axis{axis}, status: {err}")
110
111        ## Servo off
112        err = await dev.Motion_enableServoOff_async(port, axis)
113        print(f"enableServoOff_async in axis{axis}, status: {err}")
114
115        ## Motion close
116        err = await dev.Motion_close_async(port)
117        print(f"close_async in port {port}, status: {err}")
118    except Exception as err:
119        pywpc.printGenericError(err)
120
121    finally:
122        ## Disconnect device
123        dev.disconnect()
124
125        ## Release device handle
126        dev.close()
127
128
129def main_for_spyder(*args):
130    if asyncio.get_event_loop().is_running():
131        return asyncio.create_task(main(*args)).result()
132    else:
133        return asyncio.run(main(*args))
134
135
136if __name__ == '__main__':
137    asyncio.run(main())  ## Use terminal
138    # await main()  ## Use Jupyter or IPython(>=7.0)
139    # main_for_spyder()  ## Use Spyder