1'''
2Motion - Motion_velocity_blending_acceleration.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 two_pulse_mode = 1
44 velocity_mode = 2
45 stop_decel = 0
46
47 ## Axis and encoder parameters
48 axis_dir_cw = 0
49 encoder_dir_cw = 0
50
51 ## Polarity and enable parameters
52 active_low = 0
53 active_high = 1
54 forward_enable_true = 1
55 reverse_enable_true = 1
56
57 ## Get firmware model & version
58 driver_info = await dev.Sys_getDriverInfo_async()
59 print(f"Model name: {driver_info[0]}, Firmware version: {driver_info[-1]} ")
60
61 ## Motion open
62 err = await dev.Motion_open_async(port)
63 print(f"open_async in port {port}, status: {err}")
64
65 '''
66 ## Motion open configuration file
67 err = await dev.Motion_openCfgFile_async('C:/Users/user/Desktop/3AxisStage_2P.ini')
68 print(f"openCfgFile_async, status: {err}")
69
70 ## Motion load configuration file
71 err = await dev.Motion_loadCfgFile_async()
72 print(f"loadCfgFile_async, status: {err}")
73 '''
74
75 ## Motion configure
76 err = await dev.Motion_cfgAxis_async(port, axis, two_pulse_mode, axis_dir_cw, encoder_dir_cw, active_low)
77 print(f"cfgAxis_async in axis{axis}, status: {err}")
78
79 err = await dev.Motion_cfgAxisMove_async(port, axis, velocity_mode, target_posi=5000, velo=3000, accel=100000, decel=100000)
80 print(f"cfgAxisMove_async in axis{axis}, status: {err}")
81
82 ## Servo on
83 err = await dev.Motion_enableServoOn_async(port, axis)
84 print(f"enableServoOn_async in axis{axis}, status: {err}")
85
86 err = await dev.Motion_cfgLimit_async(port, axis, forward_enable_true, reverse_enable_true, active_low)
87 print(f"cfgLimit_async in axis{axis}, status: {err}")
88
89 err = await dev.Motion_cfgEncoder_async(port, axis, active_low)
90 print(f"cfgEncoder_async in axis{axis}, status: {err}")
91
92 err = await dev.Motion_rstEncoderPosi_async(port, axis, encoder_posi=0)
93 print(f"rstEncoderPosi_async in axis{axis}, 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 await asyncio.sleep(5) ## delay [sec]
100
101 ## Motion override velocity
102 new_velo = -3000
103 new_accel = 100
104 new_decel = 100
105 err = await dev.Motion_overrideAxisVelocity_async(port, axis, new_velo)
106 print(f"overrideAxisVelocity_async in axis{axis}, status: {err}")
107
108 ## Motion override acceleration
109 err = await dev.Motion_overrideAxisAccel_async(port, axis, new_accel, new_decel)
110 print(f"overrideAxisAccel_async in axis{axis}, status: {err}")
111
112 await asyncio.sleep(5) ## delay [sec]
113
114 new_velo = 6000
115 new_accel = 100000
116 new_decel = 100000
117 ## Motion override velocity
118 err = await dev.Motion_overrideAxisVelocity_async(port, axis, new_velo)
119 print(f"overrideAxisVelocity_async in axis{axis}, status: {err}")
120
121 ## Motion override acceleration
122 err = await dev.Motion_overrideAxisAccel_async(port, axis, new_accel, new_decel)
123 print(f"overrideAxisAccel_async in axis{axis}, status: {err}")
124
125 ## Motion stop
126 err = await dev.Motion_stop_async(port, axis, stop_decel)
127 print(f"stop_async in axis{axis}, status: {err}")
128
129 ## Servo off
130 err = await dev.Motion_enableServoOff_async(port, axis)
131 print(f"enableServoOff_async in axis{axis}, status: {err}")
132
133 ## Motion close
134 err = await dev.Motion_close_async(port)
135 print(f"close_async in port {port}, status: {err}")
136 except Exception as err:
137 pywpc.printGenericError(err)
138
139 finally:
140 ## Disconnect device
141 dev.disconnect()
142
143 ## Release device handle
144 dev.close()
145
146
147def main_for_spyder(*args):
148 if asyncio.get_event_loop().is_running():
149 return asyncio.create_task(main(*args)).result()
150 else:
151 return asyncio.run(main(*args))
152
153
154if __name__ == '__main__':
155 asyncio.run(main()) ## Use terminal
156 # await main() ## Use Jupyter or IPython(>=7.0)
157 # main_for_spyder() ## Use Spyder