Motion 2axis linear interpo

  1'''
  2Motion - Motion_2axis_linear_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        stop_decel = 0
 38        timeout = 3  ## [sec]
 39
 40        ## Linear interpolation parameters
 41        axis1 = 0
 42        dest_posi1 = 2000
 43        axis2 = 1
 44        dest_posi2 = 2000
 45
 46        ## Get firmware model & version
 47        driver_info = dev.Sys_getDriverInfo(timeout)
 48        print(f"Model name: {driver_info[0]}, Firmware version: {driver_info[-1]} ")
 49
 50        ## Motion open
 51        err = dev.Motion_open(port, timeout)
 52        print(f"Motion_open in port {port}, status: {err}")
 53
 54        ## Motion open configuration file
 55        err = dev.Motion_openCfgFile('C:/Users/user/Desktop/3AxisStage_2P.ini')
 56        print(f"Motion_openCfgFile, status: {err}")
 57
 58        ## Motion load configuration file
 59        err = dev.Motion_loadCfgFile(timeout)
 60        print(f"Motion_loadCfgFile, status: {err}")
 61
 62        ## Motion configure
 63        err = dev.Motion_cfg2AxisLinearInterpo(port, axis1, dest_posi1, axis2, dest_posi2, speed=2000, accel=100000, decel=100000, timeout=timeout)
 64        print(f"Motion_cfg2AxisLinearInterpo in axis{axis1} and {axis2}, status: {err}")
 65
 66        ## Motion start
 67        err = dev.Motion_startLinearInterpo(port, timeout)
 68        print(f"Motion_startLinearInterpo in port {port}, status: {err}")
 69
 70        move_status = 0
 71        while move_status == 0:
 72            axis1_move_status = dev.Motion_getMoveStatus(port, axis1, timeout)
 73            axis2_move_status = dev.Motion_getMoveStatus(port, axis2, timeout)
 74            move_status = axis1_move_status & axis2_move_status
 75            if move_status == 0:
 76                print("Moving......")
 77            else:
 78                print("Move completed")
 79
 80        ## Motion stop
 81        for i in [axis1, axis2]:
 82            err = dev.Motion_stop(port, i, stop_decel, timeout)
 83            print(f"Motion_stop in axis{i}, status: {err}")
 84
 85        ## Motion close
 86        err = dev.Motion_close(port, timeout)
 87        print(f"Motion_close in port {port}, status: {err}")
 88    except Exception as err:
 89        pywpc.printGenericError(err)
 90
 91    finally:
 92        ## Disconnect device
 93        dev.disconnect()
 94
 95        ## Release device handle
 96        dev.close()
 97
 98
 99if __name__ == '__main__':
100    main()