Motion 3axis sync move

  1'''
  2Motion - Motion_3axis_synchronous_move.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) 2022-2024 WPC Systems Ltd. All rights reserved.
 12'''
 13
 14## Python
 15import threading
 16import time
 17import time
 18## WPC
 19
 20from wpcsys import pywpc
 21
 22def Axis1_thread(handle, port, axis, delay=0.005):
 23    move_status = 0
 24    while move_status == 0:
 25        move_status = handle.Motion_getMoveStatus(port, axis)
 26        if move_status != 0:
 27            print(f"Move completed axis {axis}...")
 28            return move_status
 29
 30        ## Wait for seconds
 31        time.sleep(delay) ## delay [s]
 32
 33def Axis2_thread(handle, port, axis, delay=0.005):
 34    move_status = 0
 35    while move_status == 0:
 36        move_status = handle.Motion_getMoveStatus(port, axis)
 37        if move_status != 0:
 38            print(f"Move completed axis {axis}...")
 39            return move_status
 40
 41        ## Wait for seconds
 42        time.sleep(delay) ## delay [s]
 43
 44def Axis3_thread(handle, port, axis, delay=0.005):
 45    move_status = 0
 46    while move_status == 0:
 47        move_status = handle.Motion_getMoveStatus(port, axis)
 48        if move_status != 0:
 49            print(f"Move completed axis {axis}...")
 50            return move_status
 51
 52        ## Wait for seconds
 53        time.sleep(delay) ## delay [s]
 54
 55def main():
 56    ## Get Python driver version
 57    print(f'{pywpc.PKG_FULL_NAME} - Version {pywpc.__version__}')
 58
 59    ## Create device handle
 60    dev = pywpc.EMotion()
 61
 62    ## Connect to device
 63    try:
 64        dev.connect("192.168.1.110") ## Depend on your device
 65    except Exception as err:
 66        pywpc.printGenericError(err)
 67        ## Release device handle
 68        dev.close()
 69        return
 70
 71    try:
 72        ## Parameters setting
 73        port = 0 ## Depend on your device
 74        axis1 = 0
 75        axis2 = 1
 76        axis3 = 2
 77        two_pulse_mode = 1
 78        rel_posi_mode = 1
 79        stop_decel = 0
 80        timeout = 3 ## second
 81
 82        ## Axis and encoder parameters
 83        axis_dir_cw = 0
 84        encoder_dir_cw = 0
 85
 86        ## Polarity and enable parameters
 87        active_low = 0
 88        active_high = 1
 89        forward_enable_false = 0
 90        reverse_enable_false = 0
 91
 92        ## Define Axis1 ~ Axis3 thread
 93        thread_1 = threading.Thread(target = Axis1_thread, args = [dev, port, axis1, 0.005])
 94        thread_2 = threading.Thread(target = Axis2_thread, args = [dev, port, axis2, 0.005])
 95        thread_3 = threading.Thread(target = Axis3_thread, args = [dev, port, axis3, 0.005])
 96
 97        ## Thread start
 98        thread_1.start()
 99        thread_2.start()
100        thread_3.start()
101
102        ## Get firmware model & version
103        driver_info = dev.Sys_getDriverInfo(timeout)
104        print("Model name: " + driver_info[0])
105        print("Firmware version: " + driver_info[-1])
106
107        ## Motion open
108        err = dev.Motion_open(port, timeout)
109        print(f"Motion_open in port {port}, status: {err}")
110
111        '''
112        ## Motion open configuration file
113        err = dev.Motion_openCfgFile('C:/Users/user/Desktop/3AxisStage_2P.ini')
114        print(f"openCfgFile, status: {err}")
115
116        ## Motion load configuration file
117        err = dev.Motion_loadCfgFile()
118        print(f"loadCfgFile, status: {err}")
119        '''
120
121        ## Motion configure for axis1
122        err = dev.Motion_cfgAxis(port, axis1, two_pulse_mode, axis_dir_cw, encoder_dir_cw, active_low, timeout)
123        print(f"Motion_cfgAxis in axis{axis1}, status: {err}")
124
125        err = dev.Motion_cfgLimit(port, axis1, forward_enable_false, reverse_enable_false, active_low, timeout)
126        print(f"Motion_cfgLimit in axis{axis1}, status: {err}")
127
128        err = dev.Motion_rstEncoderPosi(port, axis1, encoder_posi=0, timeout=timeout)
129        print(f"Motion_rstEncoderPosi in axis{axis1}, status: {err}")
130
131        err = dev.Motion_cfgAxisMove(port, axis1, rel_posi_mode, target_posi=1000, velo=10000, accel=100000, decel=100000, timeout)
132        print(f"Motion_cfgAxisMove in axis{axis1}, status: {err}")
133
134        err = dev.Motion_enableServoOn(port, axis1, timeout)
135        print(f"Motion_enableServoOn in axis{axis1}, status: {err}")
136
137        ## Motion configure for axis2
138        err = dev.Motion_cfgAxis(port, axis2, two_pulse_mode, axis_dir_cw, encoder_dir_cw, active_low, timeout)
139        print(f"Motion_cfgAxis in axis{axis2}, status: {err}")
140
141        err = dev.Motion_cfgLimit(port, axis2, forward_enable_false, reverse_enable_false, active_low, timeout)
142        print(f"cfgLimit in axis{axis2}, status: {err}")
143
144        err = dev.Motion_rstEncoderPosi(port, axis2, encoder_posi=0, timeout=timeout)
145        print(f"Motion_rstEncoderPosi in axis{axis2}, status: {err}")
146
147        err = dev.Motion_cfgAxisMove(port, axis2, rel_posi_mode, target_posi=1000, velo=10000, accel=100000, decel=100000, timeout=timeout)
148        print(f"Motion_cfgAxisMove in axis{axis2}, status: {err}")
149
150        err = dev.Motion_enableServoOn(port, axis2, timeout)
151        print(f"Motion_enableServoOn in axis{axis2}, status: {err}")
152
153        ## Motion configure for axis3
154        err = dev.Motion_cfgAxis(port, axis3, two_pulse_mode, axis_dir_cw, encoder_dir_cw, active_low, timeout)
155        print(f"Motion_cfgAxis in axis{axis3}, status: {err}")
156
157        err = dev.Motion_cfgLimit(port, axis3, forward_enable_false, reverse_enable_false, active_low, timeout)
158        print(f"Motion_cfgLimit in axis{axis3}, status: {err}")
159
160        err = dev.Motion_rstEncoderPosi(port, axis3, encoder_posi=0, timeout=timeout)
161        print(f"Motion_rstEncoderPosi in axis{axis3}, status: {err}")
162
163        err = dev.Motion_cfgAxisMove(port, axis3, rel_posi_mode, target_posi=-5000, velo=10000, accel=100000, decel=100000, timeout=timeout)
164        print(f"Motion_cfgAxisMove in axis{axis3}, status: {err}")
165
166        err = dev.Motion_enableServoOn(port, axis3, timeout)
167        print(f"Motion_enableServoOn in axis{axis3}, status: {err}")
168
169        ## Motion start
170        err = dev.Motion_startMultiAxisMove(port, [axis1, axis2, axis3], timeout)
171        print(f"Motion_startMultiAxisMove in port {port}, status: {err}")
172
173        ## Wait for thread completion
174        thread_1.join()
175        print("Axis1_Thread returned.")
176
177        thread_2.join()
178        print("Axis2_Thread returned.")
179
180        thread_3.join()
181        print("Axis3_Thread returned.")
182
183        for i in [axis1, axis2, axis3]:
184            err = dev.Motion_enableServoOff(port, i, timeout)
185            print(f"Motion_enableServoOff in axis{i}, status: {err}")
186
187        ## Motion stop
188        for i in [axis1, axis2, axis3]:
189            err = dev.Motion_stop(port, i, stop_decel, timeout)
190            print(f"Motion_stop in axis{i}, status: {err}")
191
192        ## Motion close
193        err = dev.Motion_close(port, timeout)
194        print(f"Motion_close in port {port}, status: {err}")
195    except Exception as err:
196        pywpc.printGenericError(err)
197
198    ## Disconnect device
199    dev.disconnect()
200
201    ## Release device handle
202    dev.close()
203
204    return
205
206if __name__ == '__main__':
207    main()