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) 2022-2025 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 rel_posi_mode = 1
44 stop_decel = 0
45
46 ## Polarity and enable parameters
47 active_low = 0
48 active_high = 1
49
50 ## Breakpoint parameters
51 start_position = 100
52 pulse_width = 100
53 pulse_period = 100
54 pulse_number = 100
55
56 ## Get firmware model & version
57 driver_info = await dev.Sys_getDriverInfo_async()
58 print(f"Model name: {driver_info[0]}, Firmware version: {driver_info[-1]} ")
59
60 ## Motion open
61 err = await dev.Motion_open_async(port)
62 print(f"open_async in port {port}, status: {err}")
63
64 ## Motion open configuration file
65 err = await dev.Motion_openCfgFile_async('C:/Users/user/Desktop/3AxisStage_2P.ini')
66 print(f"openCfgFile_async, status: {err}")
67
68 ## Motion load configuration file
69 err = await dev.Motion_loadCfgFile_async()
70 print(f"loadCfgFile_async, status: {err}")
71
72 ## Motion configure
73 err = await dev.Motion_cfgBreakPoint_async(port, axis, rel_posi_mode, active_high, start_position, pulse_width, pulse_period, pulse_number)
74 print(f"cfgBreakPoint_async in axis{axis}, status: {err}")
75
76 err = await dev.Motion_enableBreakPoint_async(port, axis, int(True))
77 print(f"enableBreakPoint_async in axis{axis}, status: {err}")
78
79 err = await dev.Motion_cfgAxisMove_async(port, axis, rel_posi_mode, target_posi=5000, velo=10000, accel=100000, decel=100000)
80 print(f"cfgAxisMove_async in axis{axis}, status: {err}")
81
82 err = await dev.Motion_rstEncoderPosi_async(port, axis, encoder_posi=0)
83 print(f"rstEncoderPosi_async in axis{axis}, status: {err}")
84
85 ## Servo on
86 err = await dev.Motion_enableServoOn_async(port, axis)
87 print(f"enableServoOn_async in axis{axis}, status: {err}")
88
89 ## Motion start
90 err = await dev.Motion_startSingleAxisMove_async(port, axis)
91 print(f"startSingleAxisMove_async in axis{axis}, status: {err}")
92
93 move_status = 0
94 while move_status == 0:
95 move_status = await dev.Motion_getMoveStatus_async(port, axis)
96 print(f"getMoveStatus in axis{axis}: {move_status}")
97
98 ## Motion stop
99 err = await dev.Motion_stop_async(port, axis, stop_decel)
100 print(f"stop_async in axis{axis}, status: {err}")
101
102 ## Servo off
103 err = await dev.Motion_enableServoOff_async(port, axis)
104 print(f"enableServoOff_async in axis{axis}, status: {err}")
105
106 ## Motion close
107 err = await dev.Motion_close_async(port)
108 print(f"close_async in port {port}, status: {err}")
109 except Exception as err:
110 pywpc.printGenericError(err)
111
112 finally:
113 ## Disconnect device
114 dev.disconnect()
115
116 ## Release device handle
117 dev.close()
118
119
120def main_for_spyder(*args):
121 if asyncio.get_event_loop().is_running():
122 return asyncio.create_task(main(*args)).result()
123 else:
124 return asyncio.run(main(*args))
125
126
127if __name__ == '__main__':
128 asyncio.run(main()) ## Use terminal
129 # await main() ## Use Jupyter or IPython(>=7.0)
130 # main_for_spyder() ## Use Spyder