Motion 1axis move with inposition

  1'''
  2Motion - Motion_1axis_move_with_inposition.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        two_pulse_mode = 1
 39        rel_posi_mode = 1
 40        stop_decel = 0
 41        timeout = 3  ## [sec]
 42
 43        ## Axis and encoder parameters
 44        axis_dir_cw = 0
 45        encoder_dir_cw = 0
 46
 47        ## Polarity and enable parameters
 48        active_low = 0
 49        active_high = 1
 50        forward_enable_true = 1
 51        reverse_enable_true = 1
 52        inposi_enable_false = 0
 53
 54        ## Get firmware model & version
 55        driver_info = dev.Sys_getDriverInfo(timeout)
 56        print(f"Model name: {driver_info[0]}, Firmware version: {driver_info[-1]} ")
 57
 58        ## Motion open
 59        err = dev.Motion_open(port, timeout)
 60        print(f"Motion_open in port {port}, status: {err}")
 61
 62
 63        '''
 64        ## Motion open configuration file
 65        err = dev.Motion_openCfgFile('C:/Users/user/Desktop/3AxisStage_2P.ini')
 66        print(f"openCfgFile, status: {err}")
 67
 68        ## Motion load configuration file
 69        err = dev.Motion_loadCfgFile()
 70        print(f"loadCfgFile, status: {err}")
 71        '''
 72
 73        ## Motion configure
 74        err = dev.Motion_cfgAxis(port, axis, two_pulse_mode, axis_dir_cw, encoder_dir_cw, active_low, timeout)
 75        print(f"Motion_cfgAxis in axis{axis}, status: {err}")
 76
 77        err = dev.Motion_cfgLimit(port, axis, forward_enable_true, reverse_enable_true, active_low, timeout)
 78        print(f"Motion_cfgLimit in axis{axis}, status: {err}")
 79
 80        err = dev.Motion_cfgInposi(port, axis, inposi_enable_false, active_low, timeout)
 81        print(f"Motion_cfgInposi in axis{axis}, status: {err}")
 82
 83        err = dev.Motion_cfgAxisMove(port, axis, rel_posi_mode, target_posi=5000, velo=10000, accel=100000, decel=100000, timeout=timeout)
 84        print(f"Motion_cfgAxisMove in axis{axis}, status: {err}")
 85
 86        err = dev.Motion_rstEncoderPosi(port, axis, encoder_posi=0, timeout=timeout)
 87        print(f"Motion_rstEncoderPosi in axis{axis}, status: {err}")
 88
 89        ## Servo on
 90        err = dev.Motion_enableServoOn(port, axis, timeout)
 91        print(f"Motion_enableServoOn in axis{axis}, status: {err}")
 92
 93        ## Motion start
 94        err = dev.Motion_startSingleAxisMove(port, axis, timeout)
 95        print(f"Motion_startSingleAxisMove in axis{axis}, status: {err}")
 96
 97        move_status = 0
 98        while move_status == 0:
 99            move_status = dev.Motion_getMoveStatus(port, axis, timeout)
100            print("Motion_getMoveStatus:", move_status)
101
102        ## Motion stop
103        err = dev.Motion_stop(port, axis, stop_decel, timeout)
104        print(f"Motion_stop in axis{axis}, status: {err}")
105
106        ## Servo off
107        err = dev.Motion_enableServoOff(port, axis, timeout)
108        print(f"Motion_enableServoOff in axis{axis}, status: {err}")
109
110        ## Motion close
111        err = dev.Motion_close(port, timeout)
112        print(f"Motion_close in port {port}, status: {err}")
113    except Exception as err:
114        pywpc.printGenericError(err)
115
116    finally:
117        ## Disconnect device
118        dev.disconnect()
119
120        ## Release device handle
121        dev.close()
122
123
124if __name__ == '__main__':
125    main()