Motion 3axis async move

  1'''
  2Motion - Motion_3axis_asynchronous_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) 2022-2025 WPC Systems Ltd. All rights reserved.
 12'''
 13
 14## Python
 15import threading
 16import time
 17import asyncio
 18## WPC
 19from wpcsys import pywpc
 20
 21
 22async def getAxisStatus(handle, port, axis, delay=0.005):
 23    move_status = await handle.Motion_getMoveStatus_async(port, axis)
 24    if move_status != 0:
 25        print(f"Move completed axis {axis}...")
 26
 27    ## Wait for seconds
 28    await asyncio.sleep(delay)   ## delay [sec]
 29    return move_status
 30
 31
 32def Axis1_thread(handle, port, axis, delay=0.005):
 33    move_status = 0
 34    while move_status == 0:
 35        move_status = asyncio.run(getAxisStatus(handle, port, axis, delay))
 36
 37        ## Wait for seconds
 38        time.sleep(delay)  ## delay [sec]
 39
 40
 41def Axis2_thread(handle, port, axis, delay=0.005):
 42    move_status = 0
 43    while move_status == 0:
 44        move_status = asyncio.run(getAxisStatus(handle, port, axis, delay))
 45
 46        ## Wait for seconds
 47        time.sleep(delay)  ## delay [sec]
 48
 49
 50def Axis3_thread(handle, port, axis, delay=0.005):
 51    move_status = 0
 52    while move_status == 0:
 53        move_status = asyncio.run(getAxisStatus(handle, port, axis, delay))
 54
 55        ## Wait for seconds
 56        time.sleep(delay)  ## delay [sec]
 57
 58
 59async def main():
 60    ## Get Python driver version
 61    print(f'{pywpc.PKG_FULL_NAME} - Version {pywpc.__version__}')
 62
 63    ## Create device handle
 64    dev = pywpc.EMotion()
 65
 66    ## Connect to device
 67    try:
 68        dev.connect("192.168.1.110")  ## Depend on your device
 69    except Exception as err:
 70        pywpc.printGenericError(err)
 71        ## Release device handle
 72        dev.close()
 73        return
 74
 75    try:
 76        ## Parameters setting
 77        port = 0  ## Depend on your device
 78        axis1 = 0
 79        axis2 = 1
 80        axis3 = 2
 81        two_pulse_mode = 1
 82        rel_posi_mode = 1
 83        stop_decel = 0
 84
 85        ## Axis and encoder parameters
 86        axis_dir_cw = 0
 87        encoder_dir_cw = 0
 88
 89        ## Polarity and enable parameters
 90        active_low = 0
 91        active_high = 1
 92        forward_enable_false = 0
 93        reverse_enable_false = 0
 94
 95        ## Get firmware model & version
 96        driver_info = await dev.Sys_getDriverInfo_async()
 97        print(f"Model name: {driver_info[0]}, Firmware version: {driver_info[-1]} ")
 98
 99        ## Define Axis1 ~ Axis3 thread
100        thread_1 = threading.Thread(target=Axis1_thread, args=[dev, port, axis1, 0.005])
101        thread_2 = threading.Thread(target=Axis2_thread, args=[dev, port, axis2, 0.005])
102        thread_3 = threading.Thread(target=Axis3_thread, args=[dev, port, axis3, 0.005])
103
104        ## Thread start
105        thread_1.start()
106        thread_2.start()
107        thread_3.start()
108
109        ## Motion open
110        err = await dev.Motion_open_async(port)
111        print(f"open_async in port {port}, status: {err}")
112
113        '''
114        ## Motion open configuration file
115        err = await dev.Motion_openCfgFile_async('C:/Users/user/Desktop/3AxisStage_2P.ini')
116        print(f"openCfgFile_async, status: {err}")
117
118        ## Motion load configuration file
119        err = await dev.Motion_loadCfgFile_async()
120        print(f"loadCfgFile_async, status: {err}")
121        '''
122
123        ## Motion configure for axis1
124        err = await dev.Motion_cfgAxis_async(port, axis1, two_pulse_mode, axis_dir_cw, encoder_dir_cw, active_low)
125        print(f"cfgAxis_async in axis{axis1}, status: {err}")
126
127        err = await dev.Motion_cfgLimit_async(port, axis1, forward_enable_false, reverse_enable_false, active_low)
128        print(f"cfgLimit_async in axis{axis1}, status: {err}")
129
130        err = await dev.Motion_rstEncoderPosi_async(port, axis1, encoder_posi=0)
131        print(f"rstEncoderPosi_async in axis{axis1}, status: {err}")
132
133        err = await dev.Motion_cfgAxisMove_async(port, axis1, rel_posi_mode, target_posi=1000, velo=10000, accel=100000, decel=100000)
134        print(f"cfgAxisMove_async in axis{axis1}, status: {err}")
135
136        ## Servo on
137        err = await dev.Motion_enableServoOn_async(port, axis1)
138        print(f"ServoOn in axis{axis1}, status: {err}")
139
140        ## Motion start for axis1
141        err = await dev.Motion_startSingleAxisMove_async(port, axis1)
142        print(f"startSingleAxisMove_async in axis{axis1}, status: {err}")
143
144        ## Motion configure for axis2
145        err = await dev.Motion_cfgAxis_async(port, axis2, two_pulse_mode, axis_dir_cw, encoder_dir_cw, active_low)
146        print(f"cfgAxis_async in axis{axis2}, status: {err}")
147
148        err = await dev.Motion_cfgLimit_async(port, axis2, forward_enable_false, reverse_enable_false, active_low)
149        print(f"cfgLimit_async in axis{axis2}, status: {err}")
150
151        err = await dev.Motion_rstEncoderPosi_async(port, axis2, encoder_posi=0)
152        print(f"rstEncoderPosi_async in axis{axis2}, status: {err}")
153
154        err = await dev.Motion_cfgAxisMove_async(port, axis2, rel_posi_mode, target_posi=1000, velo=10000, accel=100000, decel=100000)
155        print(f"cfgAxisMove_async in axis{axis2}, status: {err}")
156
157        ## Servo on
158        err = await dev.Motion_enableServoOn_async(port, axis2)
159        print(f"ServoOn in axis{axis2}, status: {err}")
160
161        ## Motion start for axis2
162        err = await dev.Motion_startSingleAxisMove_async(port, axis2)
163        print(f"startSingleAxisMove_async in axis{axis2}, status: {err}")
164
165        ## Motion configure for axis3
166        err = await dev.Motion_cfgAxis_async(port, axis3, two_pulse_mode, axis_dir_cw, encoder_dir_cw, active_low)
167        print(f"cfgAxis_async in axis{axis3}, status: {err}")
168
169        err = await dev.Motion_cfgLimit_async(port, axis3, forward_enable_false, reverse_enable_false, active_low)
170        print(f"cfgLimit_async in axis{axis3}, status: {err}")
171
172        err = await dev.Motion_rstEncoderPosi_async(port, axis3, encoder_posi=0)
173        print(f"rstEncoderPosi_async in axis{axis3}, status: {err}")
174
175        err = await dev.Motion_cfgAxisMove_async(port, axis3, rel_posi_mode, target_posi=-5000, velo=10000, accel=100000, decel=100000)
176        print(f"cfgAxisMove_async in axis{axis3}, status: {err}")
177
178        ## Servo on
179        err = await dev.Motion_enableServoOn_async(port, axis3)
180        print(f"ServoOn in axis{axis3}, status: {err}")
181
182        ## Motion start for axis3
183        err = await dev.Motion_startSingleAxisMove_async(port, axis3)
184        print(f"startSingleAxisMove_async in axis{axis3}, status: {err}")
185
186        ## Wait for thread completion
187        thread_1.join()
188        print("Axis1_Thread returned.")
189
190        thread_2.join()
191        print("Axis2_Thread returned.")
192
193        thread_3.join()
194        print("Axis3_Thread returned.")
195
196        for i in [axis1, axis2, axis3]:
197            err = await dev.Motion_enableServoOff_async(port, i)
198            print(f"ServoOff_async in axis{i}, status: {err}")
199
200        ## Motion stop
201        for i in [axis1, axis2, axis3]:
202            err = await dev.Motion_stop_async(port, i, stop_decel)
203            print(f"stop_async in axis{i}, status: {err}")
204
205        ## Motion close
206        err = await dev.Motion_close_async(port)
207        print(f"close_async in port {port}, status: {err}")
208    except Exception as err:
209        pywpc.printGenericError(err)
210
211    finally:
212        ## Disconnect device
213        dev.disconnect()
214
215        ## Release device handle
216        dev.close()
217
218
219def main_for_spyder(*args):
220    if asyncio.get_event_loop().is_running():
221        return asyncio.create_task(main(*args)).result()
222    else:
223        return asyncio.run(main(*args))
224
225
226if __name__ == '__main__':
227    asyncio.run(main())  ## Use terminal
228    # await main()  ## Use Jupyter or IPython(>=7.0)
229    # main_for_spyder()  ## Use Spyder