Motion position blending

  1'''
  2Motion - Motion_position_blending.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        two_pulse_mode = 1
 39        rel_posi_mode = 1
 40        stop_decel = 0
 41        new_position = 0
 42        timeout = 3  ## [sec]
 43
 44        ## Axis and encoder parameters
 45        axis_dir_cw = 0
 46        encoder_dir_cw = 0
 47
 48        ## Polarity and enable parameters
 49        active_low = 0
 50        active_high = 1
 51        forward_enable_true = 1
 52        reverse_enable_true = 1
 53        home_enable_false = 0
 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        '''
 64        ## Motion open configuration file
 65        err = dev.Motion_openCfgFile('C:/Users/user/Desktop/3AxisStage_2P.ini')
 66        print(f"openCfgFile, status: {err}")
 67
 68        ## Motion load configuration file
 69        err = dev.Motion_loadCfgFile()
 70        print(f"loadCfgFile, status: {err}")
 71        '''
 72
 73        ## Motion configure
 74        err = dev.Motion_cfgAxis(port, axis, two_pulse_mode, axis_dir_cw, encoder_dir_cw, active_low, timeout)
 75        print(f"Motion_cfgAxis in axis{axis}, status: {err}")
 76
 77        err = dev.Motion_cfgLimit(port, axis, forward_enable_true, reverse_enable_true, active_low, timeout)
 78        print(f"Motion_cfgLimit in axis{axis}, status: {err}")
 79
 80        err = dev.Motion_cfgHome(port, axis, home_enable_false, active_low, timeout)
 81        print(f"Motion_cfgHome in axis{axis}, status: {err}")
 82
 83        err = dev.Motion_cfgAxisMove(port, axis, rel_posi_mode, target_posi=5000, velo=10000, accel=100000, decel=100000, timeout=timeout)
 84        print(f"Motion_cfgAxisMove in axis{axis}, status: {err}")
 85
 86        err = dev.Motion_rstEncoderPosi(port, axis, encoder_posi=0, timeout=timeout)
 87        print(f"Motion_rstEncoderPosi in axis{axis}, status: {err}")
 88
 89        ## Servo on
 90        err = dev.Motion_enableServoOn(port, axis, timeout)
 91        print(f"Motion_enableServoOn in axis{axis}, status: {err}")
 92
 93        ## Motion start
 94        err = dev.Motion_startSingleAxisMove(port, axis, timeout)
 95        print(f"Motion_startSingleAxisMove in axis{axis}, status: {err}")
 96
 97        move_status = 0
 98        while move_status == 0:
 99            err = dev.Motion_overrideAxisPosi(port, axis, new_position, timeout)
100            # print(f"Motion_overrideAxisPosi in axis{axis}, status: {err}")
101            move_status = dev.Motion_getMoveStatus(port, axis, timeout)
102            logical_posi = dev.Motion_getLogicalPosi(port, axis, timeout)
103            encoder_posi = dev.Motion_getEncoderPosi(port, axis, timeout)
104            print(f"logical_posi: {logical_posi}, encoder_posi: {encoder_posi}")
105
106        ## Motion stop
107        err = dev.Motion_stop(port, axis, stop_decel, timeout)
108        print(f"Motion_stop in axis{axis}, status: {err}")
109
110        ## Servo off
111        err = dev.Motion_enableServoOff(port, axis, timeout)
112        print(f"Motion_enableServoOff in axis{axis}, status: {err}")
113
114        ## Motion close
115        err = dev.Motion_close(port, timeout)
116        print(f"Motion_close in port {port}, status: {err}")
117    except Exception as err:
118        pywpc.printGenericError(err)
119
120    finally:
121        ## Disconnect device
122        dev.disconnect()
123
124        ## Release device handle
125        dev.close()
126
127
128if __name__ == '__main__':
129    main()