Motion acceleration blending

  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) 2022-2024 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        velocity_mode = 2
 43        stop_decel = 0
 44
 45        ## Axis and encoder parameters
 46        axis_dir_cw = 0
 47        encoder_dir_cw = 0
 48
 49        ## Polarity and enable parameters
 50        active_low = 0
 51        active_high = 1
 52        forward_enable_true = 1
 53        reverse_enable_true = 1
 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        '''
 65        ## Motion open configuration file
 66        err = await dev.Motion_openCfgFile_async('C:/Users/user/Desktop/3AxisStage_2P.ini')
 67        print(f"openCfgFile_async, status: {err}")
 68
 69        ## Motion load configuration file
 70        err = await dev.Motion_loadCfgFile_async()
 71        print(f"loadCfgFile_async, status: {err}")
 72        '''
 73
 74        ## Motion configure
 75        err = await dev.Motion_cfgAxis_async(port, axis, two_pulse_mode, axis_dir_cw, encoder_dir_cw, active_low)
 76        print(f"cfgAxis_async in axis{axis}, status: {err}")
 77
 78        err = await dev.Motion_cfgAxisMove_async(port, axis, velocity_mode, target_posi=5000, velo=3000, accel=100000, decel=100000)
 79        print(f"cfgAxisMove_async in axis{axis}, status: {err}")
 80
 81        ## Servo on
 82        err = await dev.Motion_enableServoOn_async(port, axis)
 83        print(f"enableServoOn_async in axis{axis}, status: {err}")
 84
 85        err = await dev.Motion_cfgLimit_async(port, axis, forward_enable_true, reverse_enable_true, active_low)
 86        print(f"cfgLimit_async in axis{axis}, status: {err}")
 87
 88        err = await dev.Motion_cfgEncoder_async(port, axis, active_low)
 89        print(f"cfgEncoder_async in axis{axis}, status: {err}")
 90
 91        err = await dev.Motion_rstEncoderPosi_async(port, axis, encoder_posi=0)
 92        print(f"rstEncoderPosi_async in axis{axis}, status: {err}")
 93
 94        ## Motion start
 95        err = await dev.Motion_startSingleAxisMove_async(port, axis)
 96        print(f"startSingleAxisMove_async in axis{axis}, status: {err}")
 97
 98        await asyncio.sleep(5) ## delay [s]
 99
100        ## Motion override velocity
101        new_velo = -3000
102        new_accel = 100
103        new_decel = 100
104        err = await dev.Motion_overrideAxisVelocity_async(port, axis, new_velo)
105        print(f"overrideAxisVelocity_async in axis{axis}, status: {err}")
106
107        ## Motion override acceleration
108        err = await dev.Motion_overrideAxisAccel_async(port, axis, new_accel, new_decel)
109        print(f"overrideAxisAccel_async in axis{axis}, status: {err}")
110
111        await asyncio.sleep(5) ## delay [s]
112
113        new_velo = 6000
114        new_accel = 100000
115        new_decel = 100000
116        ## Motion override velocity
117        err = await dev.Motion_overrideAxisVelocity_async(port, axis, new_velo)
118        print(f"overrideAxisVelocity_async in axis{axis}, status: {err}")
119
120        ## Motion override acceleration
121        err = await dev.Motion_overrideAxisAccel_async(port, axis, new_accel, new_decel)
122        print(f"overrideAxisAccel_async in axis{axis}, status: {err}")
123
124        ## Motion stop
125        err = await dev.Motion_stop_async(port, axis, stop_decel)
126        print(f"stop_async in axis{axis}, status: {err}")
127
128        ## Servo off
129        err = await dev.Motion_enableServoOff_async(port, axis)
130        print(f"enableServoOff_async in axis{axis}, status: {err}")
131
132        ## Motion close
133        err = await dev.Motion_close_async(port)
134        print(f"close_async in port {port}, status: {err}")
135    except Exception as err:
136        pywpc.printGenericError(err)
137
138    ## Disconnect device
139    dev.disconnect()
140
141    ## Release device handle
142    dev.close()
143
144    return
145
146def main_for_spyder(*args):
147    if asyncio.get_event_loop().is_running():
148        return asyncio.create_task(main(*args)).result()
149    else:
150        return asyncio.run(main(*args))
151
152if __name__ == '__main__':
153    asyncio.run(main()) ## Use terminal
154    # await main() ## Use Jupyter or IPython(>=7.0)
155    # main_for_spyder() ## Use Spyder