1'''
2Motion - Motion_position_blending.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 two_pulse_mode = 1
42 rel_posi_mode = 1
43 stop_decel = 0
44 new_position = 0
45
46 ## Axis and encoder parameters
47 axis_dir_cw = 0
48 encoder_dir_cw = 0
49
50 ## Polarity and enable parameters
51 active_low = 0
52 active_high = 1
53 forward_enable_true = 1
54 reverse_enable_true = 1
55 home_enable_false = 0
56
57 ## Get firmware model & version
58 driver_info = await dev.Sys_getDriverInfo_async()
59 print("Model name: " + driver_info[0])
60 print("Firmware version: " + driver_info[-1])
61
62 ## Motion open
63 err = await dev.Motion_open_async(port)
64 print(f"open_async in port {port}, status: {err}")
65
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
76 ## Motion configure
77 err = await dev.Motion_cfgAxis_async(port, axis, two_pulse_mode, axis_dir_cw, encoder_dir_cw, active_low)
78 print(f"cfgAxis_async in axis{axis}, status: {err}")
79
80 err = await dev.Motion_cfgLimit_async(port, axis, forward_enable_true, reverse_enable_true, active_low)
81 print(f"cfgLimit_async in axis{axis}, status: {err}")
82
83 err = await dev.Motion_cfgHome_async(port, axis, home_enable_false, active_low)
84 print(f"cfgHome_async in axis{axis}, status: {err}")
85
86 err = await dev.Motion_cfgAxisMove_async(port, axis, rel_posi_mode, target_posi=-5000, velo=10000, accel=100000, decel=100000)
87 print(f"cfgAxisMove_async in axis{axis}, status: {err}")
88
89 err = await dev.Motion_rstEncoderPosi_async(port, axis, encoder_posi=0)
90 print(f"rstEncoderPosi_async in axis{axis}, status: {err}")
91
92 ## Servo on
93 err = await dev.Motion_enableServoOn_async(port, axis)
94 print(f"enableServoOn_async in axis{axis}, status: {err}")
95
96 ## Motion start
97 err = await dev.Motion_startSingleAxisMove_async(port, axis)
98 print(f"startSingleAxisMove_async in axis{axis}, status: {err}")
99
100 move_status = 0
101 while move_status == 0:
102 err = await dev.Motion_overrideAxisPosi_async(port, axis, new_position)
103 # print(f"overrideAxisPosi_async in axis{axis}, status: {err}")
104 move_status = await dev.Motion_getMoveStatus_async(port, axis)
105 logical_posi = await dev.Motion_getLogicalPosi_async(port, axis)
106 encoder_posi = await dev.Motion_getEncoderPosi_async(port, axis)
107 print(f"logical_posi: {logical_posi}, encoder_posi: {encoder_posi}")
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 ## Servo off
114 err = await dev.Motion_enableServoOff_async(port, axis)
115 print(f"enableServoOff_async in axis{axis}, 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 ## Disconnect device
124 dev.disconnect()
125
126 ## Release device handle
127 dev.close()
128
129 return
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
137if __name__ == '__main__':
138 asyncio.run(main()) ## Use terminal
139 # await main() ## Use Jupyter or IPython(>=7.0)
140 # main_for_spyder() ## Use Spyder