Motion 2axis circular interpo

  1'''
  2Motion - Motion_2axis_circular_interpolation.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        stop_decel = 0
 44        rel_posi_mode = 1
 45
 46        ## Circular interpolation parameters
 47        x_axis = 0
 48        y_axis = 1
 49        center_point_x = 2000
 50        center_point_y = 2000
 51        finish_point_x = 0
 52        finish_point_y = 0
 53        circular_dir_cw = 0
 54
 55        ## jerk and acceletation mode parameters setting
 56        scurve = 1
 57        jerk = 1
 58
 59        ## Get firmware model & version
 60        driver_info = await dev.Sys_getDriverInfo_async()
 61        print(f"Model name: {driver_info[0]}, Firmware version: {driver_info[-1]} ")
 62
 63        ## Motion open
 64        err = await dev.Motion_open_async(port)
 65        print(f"open_async in port {port}, status: {err}")
 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        ## Motion configure
 76        err = await dev.Motion_cfgCircularInterpo_async(port, x_axis, y_axis, center_point_x, center_point_y, finish_point_x, finish_point_y, circular_dir_cw, speed=1000, accel=100000, decel=100000)
 77        print(f"cfgCircularInterpo_async in port {port}, status: {err}")
 78
 79        err = await dev.Motion_startCircularInterpo_async(port)
 80        print(f"startCircularInterpo_async in axis{axis}, status: {err}")
 81
 82        err = await dev.Motion_cfgAxisMove_async(port, axis, rel_posi_mode, target_posi=5000, velo=10000, accel=100000, decel=100000)
 83        print(f"cfgAxisMove_async in axis{axis}, status: {err}")
 84
 85        err = await dev.Motion_cfgJerkAndAccelMode_async(port, axis, jerk, scurve)
 86        print(f"cfgJerkAndAccelMode_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        for i in range(4):
 92            err = await dev.Motion_enableServoOn_async(port, i)
 93            print(f"enableServoOn_async in axis{i}, 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            x_axis_move_status = await dev.Motion_getMoveStatus_async(port, x_axis)
102            y_axis_move_status = await dev.Motion_getMoveStatus_async(port, y_axis)
103            move_status = x_axis_move_status & y_axis_move_status
104            if move_status == 0:
105                print("Moving......")
106            else:
107                print("Move completed")
108
109        ## Motion stop
110        err = await dev.Motion_stop_async(port, axis, stop_decel)
111        print(f"stop_async in axis{axis}, status: {err}")
112
113        for i in range(4):
114            err = await dev.Motion_enableServoOff_async(port, i)
115            print(f"enableServoOff_async in axis{i}, status: {err}")
116
117        ## Motion close
118        err = await dev.Motion_close_async(port)
119        print(f"close_async in port {port}, status: {err}")
120    except Exception as err:
121        pywpc.printGenericError(err)
122
123    finally:
124        ## Disconnect device
125        dev.disconnect()
126
127        ## Release device handle
128        dev.close()
129
130
131def main_for_spyder(*args):
132    if asyncio.get_event_loop().is_running():
133        return asyncio.create_task(main(*args)).result()
134    else:
135        return asyncio.run(main(*args))
136
137
138if __name__ == '__main__':
139    asyncio.run(main())  ## Use terminal
140    # await main()  ## Use Jupyter or IPython(>=7.0)
141    # main_for_spyder()  ## Use Spyder