1'''
2Motion - Motion_1axis_move_with_breakpoint.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 rel_posi_mode = 1
42 stop_decel = 0
43
44 ## Polarity and enable parameters
45 active_low = 0
46 active_high = 1
47
48 ## Breakpoint parameters
49 start_position = 100
50 pulse_width = 100
51 pulse_period = 100
52 pulse_number = 100
53
54 ## Get firmware model & version
55 driver_info = await dev.Sys_getDriverInfo_async()
56 print("Model name: " + driver_info[0])
57 print("Firmware version: " + driver_info[-1])
58
59 ## Motion open
60 err = await dev.Motion_open_async(port)
61 print(f"open_async in port {port}, status: {err}")
62
63 ## Motion open configuration file
64 err = await dev.Motion_openCfgFile_async('C:/Users/user/Desktop/3AxisStage_2P.ini')
65 print(f"openCfgFile_async, status: {err}")
66
67 ## Motion load configuration file
68 err = await dev.Motion_loadCfgFile_async()
69 print(f"loadCfgFile_async, status: {err}")
70
71 ## Motion configure
72 err = await dev.Motion_cfgBreakPoint_async(port, axis, rel_posi_mode, active_high, start_position, pulse_width, pulse_period, pulse_number)
73 print(f"cfgBreakPoint_async in axis{axis}, status: {err}")
74
75 err = await dev.Motion_enableBreakPoint_async(port, axis, int(True))
76 print(f"enableBreakPoint_async in axis{axis}, status: {err}")
77
78 err = await dev.Motion_cfgAxisMove_async(port, axis, rel_posi_mode, target_posi=5000, velo=10000, accel=100000, decel=100000)
79 print(f"cfgAxisMove_async in axis{axis}, status: {err}")
80
81 err = await dev.Motion_rstEncoderPosi_async(port, axis, encoder_posi=0)
82 print(f"rstEncoderPosi_async in axis{axis}, status: {err}")
83
84 ## Servo on
85 err = await dev.Motion_enableServoOn_async(port, axis)
86 print(f"enableServoOn_async in axis{axis}, status: {err}")
87
88 ## Motion start
89 err = await dev.Motion_startSingleAxisMove_async(port, axis)
90 print(f"startSingleAxisMove_async in axis{axis}, status: {err}")
91
92 move_status = 0
93 while move_status == 0:
94 move_status = await dev.Motion_getMoveStatus_async(port, axis)
95 print(f"getMoveStatus in axis{axis}: {move_status}")
96
97 ## Motion stop
98 err = await dev.Motion_stop_async(port, axis, stop_decel)
99 print(f"stop_async in axis{axis}, status: {err}")
100
101 ## Servo off
102 err = await dev.Motion_enableServoOff_async(port, axis)
103 print(f"enableServoOff_async in axis{axis}, status: {err}")
104
105 ## Motion close
106 err = await dev.Motion_close_async(port)
107 print(f"close_async in port {port}, status: {err}")
108 except Exception as err:
109 pywpc.printGenericError(err)
110
111 ## Disconnect device
112 dev.disconnect()
113
114 ## Release device handle
115 dev.close()
116
117 return
118
119def main_for_spyder(*args):
120 if asyncio.get_event_loop().is_running():
121 return asyncio.create_task(main(*args)).result()
122 else:
123 return asyncio.run(main(*args))
124
125if __name__ == '__main__':
126 asyncio.run(main()) ## Use terminal
127 # await main() ## Use Jupyter or IPython(>=7.0)
128 # main_for_spyder() ## Use Spyder