Motion 3axis linear interpo

  1'''
  2Motion - Motion_3axis_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        axis3 = 2
 46        dest_posi3 = 2000
 47
 48        ## Get firmware model & version
 49        driver_info = dev.Sys_getDriverInfo(timeout)
 50        print(f"Model name: {driver_info[0]}, Firmware version: {driver_info[-1]} ")
 51
 52        ## Motion open
 53        err = dev.Motion_open(port, timeout)
 54        print(f"Motion_open in port {port}, status: {err}")
 55
 56        ## Motion open configuration file
 57        err = dev.Motion_openCfgFile('C:/Users/user/Desktop/3AxisStage_2P.ini')
 58        print(f"Motion_openCfgFile, status: {err}")
 59
 60        ## Motion load configuration file
 61        err = dev.Motion_loadCfgFile(timeout)
 62        print(f"Motion_loadCfgFile, status: {err}")
 63
 64        ## Motion configure
 65        err = dev.Motion_cfg3AxisLinearInterpo(port, axis1, dest_posi1, axis2, dest_posi2, axis3, dest_posi3, speed=2000, accel=100000, decel=100000, timeout=timeout)
 66        print(f"Motion_cfg3AxisLinearInterpo in port {port}, status: {err}")
 67
 68        ## Motion start
 69        err = dev.Motion_startLinearInterpo(port, timeout)
 70        print(f"Motion_startLinearInterpo in port {port}, status: {err}")
 71
 72        move_status = 0
 73        while move_status == 0:
 74            axis1_move_status = dev.Motion_getMoveStatus(port, axis1, timeout)
 75            axis2_move_status = dev.Motion_getMoveStatus(port, axis2, timeout)
 76            axis3_move_status = dev.Motion_getMoveStatus(port, axis3, timeout)
 77            move_status = axis1_move_status & axis2_move_status & axis3_move_status
 78            if move_status == 0:
 79                print("Moving......")
 80            else:
 81                print("Move completed")
 82
 83        ## Motion stop
 84        for i in [axis1, axis2, axis3]:
 85            err = dev.Motion_stop(port, i, stop_decel, timeout)
 86            print(f"Motion_stop axis{i}, status: {err}")
 87
 88        ## Motion close
 89        err = dev.Motion_close(port, timeout)
 90        print(f"Motion_close in port {port}, status: {err}")
 91    except Exception as err:
 92        pywpc.printGenericError(err)
 93
 94    finally:
 95        ## Disconnect device
 96        dev.disconnect()
 97
 98        ## Release device handle
 99        dev.close()
100
101
102if __name__ == '__main__':
103    main()