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) 2022-2025 WPC Systems Ltd. All rights reserved.
 12'''
 13
 14## WPC
 15from wpcsys import pywpc
 16
 17## Python
 18import time
 19
 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  ## [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_startVelocticyMove(port, speed, dir, acceleration, deceleration, timeout)
 71        print(f"Motion_startVelocticyMove, status: {err}")
 72
 73        ## Wait for seconds for moving
 74        time.sleep(3)  ## delay [sec]
 75
 76        ## Motion start
 77        new_speed = 10000
 78        new_dir = -1
 79        new_acceleration = 20000
 80        new_deceleration = 20000
 81
 82        err = dev.Motion_startVelocticyMove(port, new_speed, new_dir, new_acceleration, new_deceleration, timeout)
 83        print(f"Motion_startVelocticyMove, status: {err}")
 84
 85        ## Wait for seconds for moving
 86        time.sleep(3)  ## delay [sec]
 87    except Exception as err:
 88        pywpc.printGenericError(err)
 89    except KeyboardInterrupt:
 90        print("Press keyboard")
 91    finally:
 92        ## Motion stop
 93        err = dev.Motion_stopProcess(port, timeout)
 94        print(f"Motion_stopProcess, status: {err}")
 95
 96        ## Motion Servo off
 97        err = dev.Motion_enableServoOff(port, timeout)
 98        print(f"Motion_enableServoOff, status: {err}")
 99
100        ## Motion close
101        err = dev.Motion_close(port, timeout)
102        print(f"Motion_close, status: {err}")
103
104        ## Disconnect device
105        dev.disconnect()
106
107        ## Release device handle
108        dev.close()
109
110
111if __name__ == '__main__':
112    main()