Motion 3axis helical interpo

  1'''
  2Motion - Motion_3axis_helical_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        timeout = 3  ## [sec]
 40
 41        ## Helical parameters
 42        center_x = 0
 43        center_y = 0
 44        finish_x = 100
 45        finish_y = 100
 46        pitch_axis3 = 0
 47        pitch_axis4 = 0
 48        rotation_num = 0
 49        speed = 0
 50        cal_timeout = 1000
 51        helical_dir_cw = 0
 52
 53        ## Get firmware model & version
 54        driver_info = dev.Sys_getDriverInfo(timeout)
 55        print(f"Model name: {driver_info[0]}, Firmware version: {driver_info[-1]} ")
 56
 57        ## Motion open
 58        err = dev.Motion_open(port, timeout)
 59        print(f"Motion_open in port {port}, status: {err}")
 60
 61        ## Motion open configuration file
 62        err = dev.Motion_openCfgFile('C:/Users/user/Desktop/3AxisStage_2P.ini')
 63        print(f"Motion_openCfgFile, status: {err}")
 64
 65        ## Motion load configuration file
 66        err = dev.Motion_loadCfgFile(timeout)
 67        print(f"Motion_loadCfgFile, status: {err}")
 68
 69        ## Motion configure
 70        err = dev.Motion_cfgHelicalInterpo(port, center_x, center_y, finish_x, finish_y, int(False), pitch_axis3, int(False), pitch_axis4, rotation_num,
 71                                           speed, helical_dir_cw, cal_timeout, timeout)
 72        print(f"Motion_cfgHelicalInterpo in axis{axis}, status: {err}")
 73
 74        ## Motion start
 75        err = dev.Motion_startHelicalInterpo(port, timeout)
 76        print(f"Motion_startHelicalInterpo in axis{axis}, status: {err}")
 77
 78        move_status = 0
 79        while move_status == 0:
 80            move_status = dev.Motion_getMoveStatus(port, axis, timeout)
 81            if move_status != 0:
 82                print(f"Move completed axis {axis}...")
 83                return move_status
 84
 85        ## Motion stop
 86        err = dev.Motion_stop(port, axis, stop_decel, timeout)
 87        print(f"Motion_stop in axis{axis}, status: {err}")
 88
 89        ## Motion close
 90        err = dev.Motion_close(port, timeout)
 91        print(f"Motion_close in port {port}, status: {err}")
 92    except Exception as err:
 93        pywpc.printGenericError(err)
 94
 95    finally:
 96        ## Disconnect device
 97        dev.disconnect()
 98
 99        ## Release device handle
100        dev.close()
101
102
103if __name__ == '__main__':
104    main()