Drive velocity blending acceleration

  1'''
  2Drive - Drive_velocity_blending_acceleration.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        speed = 50000
 41        dir = 1
 42        acceleration = 10000
 43        deceleration = 10000
 44        active_high = 1
 45        en_forward = 1
 46        en_reverse = 1
 47        timeout = 3 ## second
 48
 49        ## Get firmware model & version
 50        driver_info = dev.Sys_getDriverInfo(timeout)
 51        print("Model name: " + driver_info[0])
 52        print("Firmware version: " + driver_info[-1])
 53
 54        ## Motion open
 55        err = dev.Motion_open(port, timeout)
 56        print(f"Motion_open, status: {err}")
 57
 58        ## Motion configure
 59        err = dev.Motion_cfgLimit(port, en_forward, en_reverse, active_high, timeout)
 60        print(f"Motion_cfgLimit, status: {err}")
 61
 62        ## Motion reset
 63        err = dev.Motion_rstEncoderPosi(port, timeout)
 64        print(f"Motion_resetEncoderPosi, status: {err}")
 65
 66        ## Motion Servo on
 67        err = dev.Motion_enableServoOn(port, timeout)
 68        print(f"Motion_enableServoOn, status: {err}")
 69
 70        ## Motion start
 71        err = dev.Motion_startVelocticyMove(port, speed, dir, acceleration, deceleration, timeout)
 72        print(f"Motion_startVelocticyMove, status: {err}")
 73
 74        ## Wait for seconds for moving
 75        time.sleep(3) ## delay [s]
 76
 77        ## Motion start
 78        new_speed = 10000
 79        new_dir = -1
 80        new_acceleration = 20000
 81        new_deceleration = 20000
 82
 83        err = dev.Motion_startVelocticyMove(port, new_speed, new_dir, new_acceleration, new_deceleration, timeout)
 84        print(f"Motion_startVelocticyMove, status: {err}")
 85
 86        ## Wait for seconds for moving
 87        time.sleep(3) ## delay [s]
 88    except Exception as err:
 89        pywpc.printGenericError(err)
 90    except KeyboardInterrupt:
 91        print("Press keyboard")
 92    finally:
 93        ## Motion stop
 94        err = dev.Motion_stopProcess(port, timeout)
 95        print(f"Motion_stopProcess, status: {err}")
 96
 97        ## Motion Servo off
 98        err = dev.Motion_enableServoOff(port, timeout)
 99        print(f"Motion_enableServoOff, status: {err}")
100
101        ## Motion close
102        err = dev.Motion_close(port, timeout)
103        print(f"Motion_close, status: {err}")
104
105    ## Disconnect device
106    dev.disconnect()
107
108    ## Release device handle
109    dev.close()
110
111if __name__ == '__main__':
112    main()