1'''
2Motion - Motion_1axis_move_with_breakpoint.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.EMotion()
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 axis = 0
38 rel_posi_mode = 1
39 stop_decel = 0
40 timeout = 3 ## [sec]
41
42 ## Polarity and enable parameters
43 active_low = 0
44 active_high = 1
45
46 ## Breakpoint parameters
47 start_position = 100
48 pulse_width = 100
49 pulse_period = 100
50 pulse_number = 100
51
52 ## Get firmware model & version
53 driver_info = dev.Sys_getDriverInfo(timeout)
54 print(f"Model name: {driver_info[0]}, Firmware version: {driver_info[-1]} ")
55
56 ## Motion open
57 err = dev.Motion_open(port, timeout)
58 print(f"Motion_open in port {port}, status: {err}")
59
60 ## Motion open configuration file
61 err = dev.Motion_openCfgFile('C:/Users/user/Desktop/3AxisStage_2P.ini')
62 print(f"Motion_openCfgFile, status: {err}")
63
64 ## Motion load configuration file
65 err = dev.Motion_loadCfgFile(timeout)
66 print(f"Motion_loadCfgFile, status: {err}")
67
68 ## Motion configure
69 err = dev.Motion_cfgBreakPoint(port, axis, rel_posi_mode, active_high, start_position, pulse_width, pulse_period, pulse_number, timeout)
70 print(f"Motion_cfgBreakPoint in axis{axis}, status: {err}")
71
72 err = dev.Motion_enableBreakPoint(port, axis, int(True), timeout)
73 print(f"Motion_enableBreakPoint in axis{axis}, status: {err}")
74
75 err = dev.Motion_cfgAxisMove(port, axis, rel_posi_mode, target_posi=5000, velo=10000, accel=100000, decel=100000, timeout=timeout)
76 print(f"Motion_cfgAxisMove in axis{axis}, status: {err}")
77
78 err = dev.Motion_rstEncoderPosi(port, axis, encoder_posi=0, timeout=timeout)
79 print(f"Motion_rstEncoderPosi in axis{axis}, status: {err}")
80
81 ## Servo on
82 err = dev.Motion_enableServoOn(port, axis, timeout)
83 print(f"Motion_enableServoOn in axis{axis}, status: {err}")
84
85 ## Motion start
86 err = dev.Motion_startSingleAxisMove(port, axis, timeout)
87 print(f"Motion_startSingleAxisMove in axis{axis}, status: {err}")
88
89 move_status = 0
90 while move_status == 0:
91 move_status = dev.Motion_getMoveStatus(port, axis, timeout)
92 print(f"Motion_getMoveStatus in axis{axis}: {move_status}")
93
94 ## Motion stop
95 err = dev.Motion_stop(port, axis, stop_decel, timeout)
96 print(f"Motion_stop in axis{axis}, status: {err}")
97
98 ## Servo off
99 err = dev.Motion_enableServoOff(port, axis, timeout)
100 print(f"Motion_enableServoOff in axis{axis}, status: {err}")
101
102 ## Motion close
103 err = dev.Motion_close(port, timeout)
104 print(f"Motion_close in port {port}, status: {err}")
105 except Exception as err:
106 pywpc.printGenericError(err)
107
108 finally:
109 ## Disconnect device
110 dev.disconnect()
111
112 ## Release device handle
113 dev.close()
114
115
116if __name__ == '__main__':
117 main()