1'''
2Drive - Drive_position_blending.py with synchronous 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 time
16
17## WPC
18
19from wpcsys import pywpc
20
21def main():
22 ## Get Python driver version
23 print(f'{pywpc.PKG_FULL_NAME} - Version {pywpc.__version__}')
24
25 ## Create device handle
26 dev = pywpc.EDriveST()
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 position = -80000
41 position1 = 80000
42 position2 = -80000
43 speed = 50000
44 acceleration = 10000
45 deceleration = 10000
46 mode = 1 ## 0: absolute, 1: relative.
47 active_high = 1
48 en_forward = 1
49 en_reverse = 1
50 timeout = 3 ## second
51
52 ## Get firmware model & version
53 driver_info = dev.Sys_getDriverInfo(timeout)
54 print("Model name: " + driver_info[0])
55 print("Firmware version: " + driver_info[-1])
56
57 ## Motion open
58 err = dev.Motion_open(port, timeout)
59 print(f"Motion_open, status: {err}")
60
61 ## Motion configure
62 err = dev.Motion_cfgLimit(port, en_forward, en_reverse, active_high, timeout)
63 print(f"Motion_cfgLimit, status: {err}")
64
65 ## Motion reset
66 err = dev.Motion_rstEncoderPosi(port, timeout)
67 print(f"Motion_resetEncoderPosi, status: {err}")
68
69 ## Motion Servo on
70 err = dev.Motion_enableServoOn(port, timeout)
71 print(f"Motion_enableServoOn, status: {err}")
72
73 ## Motion start
74 err = dev.Motion_startPositionMove(port, position, speed, acceleration, deceleration, mode, timeout)
75 print(f"Motion_start, status: {err}")
76
77 status = 1
78 while status != 0 :
79 status = dev.Motion_getProcessState(port, timeout)
80 if(status == 0):
81 print(f"Motion_getProcessState: {status}")
82
83 ## Motion start
84 err = dev.Motion_startPositionMove(port, position1, speed, acceleration, deceleration, mode, timeout)
85 print(f"Motion_start, status: {err}")
86
87 status = 1
88 while status != 0 :
89 status = dev.Motion_getProcessState(port, timeout)
90 if(status == 0):
91 print(f"Motion_getProcessState: {status}")
92
93 ## Motion start
94 err = dev.Motion_startPositionMove(port, position2, speed, acceleration, deceleration, mode, timeout)
95 print(f"Motion_start, status: {err}")
96
97 status = 1
98 while status != 0 :
99 status = dev.Motion_getProcessState(port, timeout)
100 if(status == 0):
101 print(f"Motion_getProcessState: {status}")
102 except Exception as err:
103 pywpc.printGenericError(err)
104 except KeyboardInterrupt:
105 print("Press keyboard")
106 finally:
107 ## Motion stop
108 err = dev.Motion_stopProcess(port, timeout)
109 print(f"Motion_stopProcess, status: {err}")
110
111 ## Motion Servo off
112 err = dev.Motion_enableServoOff(port, timeout)
113 print(f"Motion_enableServoOff, status: {err}")
114
115 ## Motion close
116 err = dev.Motion_close(port, timeout)
117 print(f"Motion_close, status: {err}")
118
119 ## Disconnect device
120 dev.disconnect()
121
122 ## Release device handle
123 dev.close()
124
125if __name__ == '__main__':
126 main()