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) 2022-2025 WPC Systems Ltd. All rights reserved.
12'''
13
14## WPC
15from wpcsys import pywpc
16
17
18def main():
19 ## Get Python driver version
20 print(f'{pywpc.PKG_FULL_NAME} - Version {pywpc.__version__}')
21
22 ## Create device handle
23 dev = pywpc.EDriveST()
24
25 ## Connect to device
26 try:
27 dev.connect("192.168.1.110") ## Depend on your device
28 except Exception as err:
29 pywpc.printGenericError(err)
30 ## Release device handle
31 dev.close()
32 return
33
34 try:
35 ## Parameters setting
36 port = 0 ## Depend on your device
37 position = -80000
38 position1 = 80000
39 position2 = -80000
40 speed = 50000
41 acceleration = 10000
42 deceleration = 10000
43 mode = 1 ## 0: absolute, 1: relative.
44 active_high = 1
45 en_forward = 1
46 en_reverse = 1
47 timeout = 3 ## [sec]
48
49 ## Get firmware model & version
50 driver_info = dev.Sys_getDriverInfo(timeout)
51 print(f"Model name: {driver_info[0]}, Firmware version: {driver_info[-1]} ")
52
53 ## Motion open
54 err = dev.Motion_open(port, timeout)
55 print(f"Motion_open, status: {err}")
56
57 ## Motion configure
58 err = dev.Motion_cfgLimit(port, en_forward, en_reverse, active_high, timeout)
59 print(f"Motion_cfgLimit, status: {err}")
60
61 ## Motion reset
62 err = dev.Motion_rstEncoderPosi(port, timeout)
63 print(f"Motion_resetEncoderPosi, status: {err}")
64
65 ## Motion Servo on
66 err = dev.Motion_enableServoOn(port, timeout)
67 print(f"Motion_enableServoOn, status: {err}")
68
69 ## Motion start
70 err = dev.Motion_startPositionMove(port, position, speed, acceleration, deceleration, mode, timeout)
71 print(f"Motion_start, status: {err}")
72
73 status = 1
74 while status != 0:
75 status = dev.Motion_getProcessState(port, timeout)
76 if status == 0:
77 print(f"Motion_getProcessState: {status}")
78
79 ## Motion start
80 err = dev.Motion_startPositionMove(port, position1, speed, acceleration, deceleration, mode, timeout)
81 print(f"Motion_start, status: {err}")
82
83 status = 1
84 while status != 0:
85 status = dev.Motion_getProcessState(port, timeout)
86 if status == 0:
87 print(f"Motion_getProcessState: {status}")
88
89 ## Motion start
90 err = dev.Motion_startPositionMove(port, position2, speed, acceleration, deceleration, mode, timeout)
91 print(f"Motion_start, status: {err}")
92
93 status = 1
94 while status != 0:
95 status = dev.Motion_getProcessState(port, timeout)
96 if status == 0:
97 print(f"Motion_getProcessState: {status}")
98 except Exception as err:
99 pywpc.printGenericError(err)
100 except KeyboardInterrupt:
101 print("Press keyboard")
102 finally:
103 ## Motion stop
104 err = dev.Motion_stopProcess(port, timeout)
105 print(f"Motion_stopProcess, status: {err}")
106
107 ## Motion Servo off
108 err = dev.Motion_enableServoOff(port, timeout)
109 print(f"Motion_enableServoOff, status: {err}")
110
111 ## Motion close
112 err = dev.Motion_close(port, timeout)
113 print(f"Motion_close, status: {err}")
114
115 ## Disconnect device
116 dev.disconnect()
117
118 ## Release device handle
119 dev.close()
120
121
122if __name__ == '__main__':
123 main()