1'''
2Motion - Motion_3axis_helical_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) 2022-2024 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 stop_decel = 0
42
43 ## Helical parameters
44 center_x = 0
45 center_y = 0
46 finish_x = 100
47 finish_y = 100
48 pitch_axis3 = 0
49 pitch_axis4 = 0
50 rotation_num = 0
51 speed = 0
52 cal_timeout = 1000
53 helical_dir_cw = 0
54
55 ## Get firmware model & version
56 driver_info = await dev.Sys_getDriverInfo_async()
57 print("Model name: " + driver_info[0])
58 print("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_cfgHelicalInterpo_async(port, center_x, center_y, finish_x, finish_y, int(False), pitch_axis3, int(False), pitch_axis4, rotation_num,
74 speed, helical_dir_cw, cal_timeout)
75 print(f"cfgHelicalInterpo_async in axis{axis}, status: {err}")
76
77 ## Motion start
78 err = await dev.Motion_startHelicalInterpo_async(port)
79 print(f"startHelicalInterpo_async in axis{axis}, status: {err}")
80
81 move_status = 0
82 while move_status == 0:
83 move_status = await dev.Motion_getMoveStatus_async(port, axis)
84 print(f"getMoveStatus_async in axis{axis}: {move_status}")
85
86 ## Motion stop
87 err = await dev.Motion_stop_async(port, axis, stop_decel)
88 print(f"stop_async in axis{axis}, status: {err}")
89
90 ## Motion close
91 err = await dev.Motion_close_async(port)
92 print(f"close_async in port {port}, status: {err}")
93 except Exception as err:
94 pywpc.printGenericError(err)
95
96 ## Disconnect device
97 dev.disconnect()
98
99 ## Release device handle
100 dev.close()
101
102 return
103
104def main_for_spyder(*args):
105 if asyncio.get_event_loop().is_running():
106 return asyncio.create_task(main(*args)).result()
107 else:
108 return asyncio.run(main(*args))
109
110if __name__ == '__main__':
111 asyncio.run(main()) ## Use terminal
112 # await main() ## Use Jupyter or IPython(>=7.0)
113 # main_for_spyder() ## Use Spyder