Drive position move

  1'''
  2Drive - Drive_position_move.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 = 50000
 38        speed = 50000
 39        acceleration = 10000
 40        deceleration = 10000
 41        mode = 1  ## 0: absolute, 1: relative.
 42        active_high = 1
 43        en_forward = 1
 44        en_reverse = 1
 45        timeout = 3  ## [sec]
 46
 47        ## Get firmware model & version
 48        driver_info = dev.Sys_getDriverInfo(timeout)
 49        print(f"Model name: {driver_info[0]}, Firmware version: {driver_info[-1]} ")
 50
 51        ## Motion open
 52        err = dev.Motion_open(port, timeout)
 53        print(f"Motion_open, status: {err}")
 54
 55        ## Motion configure
 56        err = dev.Motion_cfgLimit(port, en_forward, en_reverse, active_high, timeout)
 57        print(f"Motion_cfgLimit, status: {err}")
 58
 59        ## Motion reset
 60        err = dev.Motion_rstEncoderPosi(port, timeout)
 61        print(f"Motion_resetEncoderPosi, status: {err}")
 62
 63        ## Motion Servo on
 64        err = dev.Motion_enableServoOn(port, timeout)
 65        print(f"Motion_enableServoOn, status: {err}")
 66
 67        ## Motion start
 68        err = dev.Motion_startPositionMove(port, position, speed, acceleration, deceleration, mode, timeout)
 69        print(f"Motion_start, status: {err}")
 70
 71        status = 1
 72        while status != 0:
 73            status = dev.Motion_getProcessState(port, timeout)
 74            if status == 0:
 75                print(f"Motion_getProcessState: {status}")
 76    except Exception as err:
 77        pywpc.printGenericError(err)
 78    except KeyboardInterrupt:
 79        print("Press keyboard")
 80    finally:
 81        ## Motion stop
 82        err = dev.Motion_stopProcess(port, timeout)
 83        print(f"Motion_stopProcess, status: {err}")
 84
 85        ## Motion Servo off
 86        err = dev.Motion_enableServoOff(port, timeout)
 87        print(f"Motion_enableServoOff, status: {err}")
 88
 89        ## Motion close
 90        err = dev.Motion_close(port, timeout)
 91        print(f"Motion_close, status: {err}")
 92
 93        ## Disconnect device
 94        dev.disconnect()
 95
 96        ## Release device handle
 97        dev.close()
 98
 99
100if __name__ == '__main__':
101    main()