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