1'''
2Motion - Motion_1axis_move_with_capture.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.EMotion()
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 axis = 0
41 rel_posi_mode = 1
42 stop_decel = 0
43 timeout = 3 ## second
44
45 ## Get firmware model & version
46 driver_info = dev.Sys_getDriverInfo(timeout)
47 print("Model name: " + driver_info[0])
48 print("Firmware version: " + driver_info[-1])
49
50 ## Capture parameters setting
51 rising_edge = 0
52 capture_logical_position = 0
53
54 ## Motion open
55 err = dev.Motion_open(port, timeout)
56 print(f"Motion_open in port {port}, status: {err}")
57
58 ## Motion open configuration file
59 err = dev.Motion_openCfgFile('C:/Users/user/Desktop/3AxisStage_2P.ini')
60 print(f"Motion_openCfgFile, status: {err}")
61
62 ## Motion load configuration file
63 err = dev.Motion_loadCfgFile(timeout)
64 print(f"Motion_loadCfgFile, status: {err}")
65
66 ## Motion configure
67 err = dev.Motion_cfgCapture(port, axis, rising_edge, capture_logical_position, timeout)
68 print(f"Motion_cfgCapture in axis{axis}, status: {err}")
69
70 err = dev.Motion_enableCapture(port, axis, int(True), timeout)
71 print(f"Motion_enableCapture in axis{axis}, status: {err}")
72
73 err = dev.Motion_cfgAxisMove(port, axis, rel_posi_mode, target_posi=5000, velo=10000, accel=100000, decel=100000, timeout=timeout)
74 print(f"Motion_cfgAxisMove in axis{axis}, status: {err}")
75
76 err = dev.Motion_rstEncoderPosi(port, axis, encoder_posi=0, timeout=timeout)
77 print(f"Motion_rstEncoderPosi in axis{axis}, status: {err}")
78
79 ## Servo on
80 err = dev.Motion_enableServoOn(port, axis, timeout)
81 print(f"Motion_enableServoOn in axis{axis}, status: {err}")
82
83 ## Motion start
84 err = dev.Motion_startSingleAxisMove(port, axis, timeout)
85 print(f"Motion_startSingleAxisMove in axis{axis}, status: {err}")
86
87 move_status = 0
88 while move_status == 0:
89 move_status = dev.Motion_getMoveStatus(port, axis, timeout)
90 print(f"Motion_getMoveStatus in axis{axis}: {move_status}")
91
92 capture_points = dev.Motion_readCapturePoint(port, axis, timeout)
93 print(f"Motion_readCapturePoint in axis{axis}: {capture_points}")
94
95 ## Motion stop
96 err = dev.Motion_stop(port, axis, stop_decel, timeout)
97 print(f"Motion_stop in axis{axis}, status: {err}")
98
99 ## Servo off
100 err = dev.Motion_enableServoOff(port, axis, timeout)
101 print(f"Motion_enableServoOff in axis{axis}, status: {err}")
102
103 ## Motion close
104 err = dev.Motion_close(port, timeout)
105 print(f"Motion_close in port {port}, status: {err}")
106 except Exception as err:
107 pywpc.printGenericError(err)
108
109 ## Disconnect device
110 dev.disconnect()
111
112 ## Release device handle
113 dev.close()
114
115 return
116
117if __name__ == '__main__':
118 main()