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()