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) 2022-2024 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.EMotion()
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 axis = 0
41 two_pulse_mode = 1
42 rel_posi_mode = 1
43 stop_decel = 0
44
45 ## Axis and encoder parameters
46 axis_dir_cw = 0
47 encoder_dir_cw = 0
48
49 ## Polarity and enable parameters
50 active_low = 0
51 active_high = 1
52 forward_enable_true = 1
53 reverse_enable_true = 1
54 home_enable_false = 0
55
56 ## Get firmware model & version
57 driver_info = await dev.Sys_getDriverInfo_async()
58 print("Model name: " + driver_info[0])
59 print("Firmware version: " + driver_info[-1])
60
61 ## Motion open
62 err = await dev.Motion_open_async(port)
63 print(f"open_async in port {port}, status: {err}")
64
65 '''
66 ## Motion open configuration file
67 err = await dev.Motion_openCfgFile_async('C:/Users/user/Desktop/3AxisStage_2P.ini')
68 print(f"openCfgFile_async, status: {err}")
69
70 ## Motion load configuration file
71 err = await dev.Motion_loadCfgFile_async()
72 print(f"loadCfgFile_async, status: {err}")
73 '''
74
75 ## Motion configure
76 err = await dev.Motion_cfgAxis_async(port, axis, two_pulse_mode, axis_dir_cw, encoder_dir_cw, active_low)
77 print(f"cfgAxis_async in axis{axis}, status: {err}")
78
79 err = await dev.Motion_cfgLimit_async(port, axis, forward_enable_true, reverse_enable_true, active_low)
80 print(f"cfgLimit_async in axis{axis}, status: {err}")
81
82 err = await dev.Motion_cfgHome_async(port, axis, home_enable_false, active_low)
83 print(f"cfgHome_async in axis{axis}, status: {err}")
84
85 err = await dev.Motion_cfgAxisMove_async(port, axis, rel_posi_mode, target_posi=5000, velo=10000, accel=100000, decel=100000)
86 print(f"cfgAxisMove_async in axis{axis}, status: {err}")
87
88 err = await dev.Motion_rstEncoderPosi_async(port, axis, encoder_posi=0)
89 print(f"rstEncoderPosi_async in axis{axis}, status: {err}")
90
91 ## Servo on
92 err = await dev.Motion_enableServoOn_async(port, axis)
93 print(f"enableServoOn_async in axis{axis}, status: {err}")
94
95 ## Motion start
96 err = await dev.Motion_startSingleAxisMove_async(port, axis)
97 print(f"startSingleAxisMove_async in axis{axis}, status: {err}")
98
99 move_status = 0
100 while move_status == 0:
101 move_status = await dev.Motion_getMoveStatus_async(port, axis)
102 logical_posi = await dev.Motion_getLogicalPosi_async(port, axis)
103 encoder_posi = await dev.Motion_getEncoderPosi_async(port, axis)
104 print(f"logical_posi: {logical_posi}, encoder_posi: {encoder_posi}")
105
106 ## Motion stop
107 err = await dev.Motion_stop_async(port, axis, stop_decel)
108 print(f"stop_async in axis{axis}, status: {err}")
109
110 ## Servo off
111 err = await dev.Motion_enableServoOff_async(port, axis)
112 print(f"enableServoOff_async in axis{axis}, status: {err}")
113
114 ## Motion close
115 err = await dev.Motion_close_async(port)
116 print(f"close_async in port {port}, status: {err}")
117 except Exception as err:
118 pywpc.printGenericError(err)
119
120 ## Disconnect device
121 dev.disconnect()
122
123 ## Release device handle
124 dev.close()
125
126 return
127
128def main_for_spyder(*args):
129 if asyncio.get_event_loop().is_running():
130 return asyncio.create_task(main(*args)).result()
131 else:
132 return asyncio.run(main(*args))
133
134if __name__ == '__main__':
135 asyncio.run(main()) ## Use terminal
136 # await main() ## Use Jupyter or IPython(>=7.0)
137 # main_for_spyder() ## Use Spyder