Motion 2axis circular interpo

  1'''
  2Motion - Motion_2axis_circular_interpolation.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        stop_decel = 0
 39        rel_posi_mode = 1
 40        timeout = 3  ## [sec]
 41
 42        ## Circular interpolation parameters
 43        x_axis = 0
 44        y_axis = 1
 45        center_point_x = 2000
 46        center_point_y = 2000
 47        finish_point_x = 0
 48        finish_point_y = 0
 49        circular_dir_cw = 0
 50
 51        ## jerk and acceletation mode parameters setting
 52        scurve = 1
 53        jerk = 1
 54
 55        ## Get firmware model & version
 56        driver_info = dev.Sys_getDriverInfo(timeout)
 57        print(f"Model name: {driver_info[0]}, Firmware version: {driver_info[-1]} ")
 58
 59        ## Motion open
 60        err = dev.Motion_open(port, timeout)
 61        print(f"Motion_open in port {port}, status: {err}")
 62
 63        ## Motion open configuration file
 64        err = dev.Motion_openCfgFile('C:/Users/user/Desktop/3AxisStage_2P.ini')
 65        print(f"Motion_openCfgFile, status: {err}")
 66
 67        ## Motion load configuration file
 68        err = dev.Motion_loadCfgFile(timeout)
 69        print(f"Motion_loadCfgFile, status: {err}")
 70
 71        ## Motion configure
 72        err = dev.Motion_cfgCircularInterpo(port, x_axis, y_axis, center_point_x, center_point_y, finish_point_x, finish_point_y, circular_dir_cw, speed=1000, accel=100000, decel=100000, timeout=timeout)
 73        print(f"Motion_cfgCircularInterpo in port {port}, status: {err}")
 74
 75        err = dev.Motion_startCircularInterpo(port, timeout)
 76        print(f"Motion_startCircularInterpo in axis{axis}, status: {err}")
 77
 78        err = dev.Motion_cfgAxisMove(port, axis, rel_posi_mode, target_posi=5000, velo=10000, accel=100000, decel=100000, timeout=timeout)
 79        print(f"Motion_cfgAxisMove in axis{axis}, status: {err}")
 80
 81        err = dev.Motion_cfgJerkAndAccelMode(port, axis, jerk, scurve, timeout)
 82        print(f"Motion_cfgJerkAndAccelMode in axis{axis}, status: {err}")
 83
 84        err = dev.Motion_rstEncoderPosi(port, axis, encoder_posi=0, timeout=timeout)
 85        print(f"Motion_rstEncoderPosi in axis{axis}, status: {err}")
 86
 87        for i in range(4):
 88            err = dev.Motion_enableServoOn(port, i, timeout)
 89            print(f"Motion_enableServoOn in axis{i}, status: {err}")
 90
 91        ## Motion start
 92        err = dev.Motion_startSingleAxisMove(port, axis, timeout)
 93        print(f"Motion_startSingleAxisMove in axis{axis}, status: {err}")
 94
 95        move_status = 0
 96        while move_status == 0:
 97            x_axis_move_status = dev.Motion_getMoveStatus(port, x_axis, timeout)
 98            y_axis_move_status = dev.Motion_getMoveStatus(port, y_axis, timeout)
 99            move_status = x_axis_move_status & y_axis_move_status
100            if move_status == 0:
101                print("Moving......")
102            else:
103                print("Move completed")
104
105        ## Motion stop
106        err = dev.Motion_stop(port, axis, stop_decel, timeout)
107        print(f"Motion_stop in axis{axis}, status: {err}")
108
109        for i in range(4):
110            err = dev.Motion_enableServoOff(port, i, timeout)
111            print(f"Motion_enableServoOff in axis{i}, status: {err}")
112
113        ## Motion close
114        err = dev.Motion_close(port, timeout)
115        print(f"Motion_close in port {port}, status: {err}")
116    except Exception as err:
117        pywpc.printGenericError(err)
118
119    finally:
120        ## Disconnect device
121        dev.disconnect()
122
123        ## Release device handle
124        dev.close()
125
126
127if __name__ == '__main__':
128    main()