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