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) 2022-2024 WPC Systems Ltd. All rights reserved.
12'''
13
14## Python
15import time
16
17## WPC
18
19from wpcsys import pywpc
20
21def main():
22 ## Get Python driver version
23 print(f'{pywpc.PKG_FULL_NAME} - Version {pywpc.__version__}')
24
25 ## Create device handle
26 dev = pywpc.EMotion()
27
28 ## Connect to device
29 try:
30 dev.connect("192.168.1.110") ## Depend on your device
31 except Exception as err:
32 pywpc.printGenericError(err)
33 ## Release device handle
34 dev.close()
35 return
36
37 try:
38 ## Parameters setting
39 port = 0 ## Depend on your device
40 axis = 0
41 two_pulse_mode = 1
42 rel_posi_mode = 1
43 stop_decel = 0
44 new_position = 0
45 timeout = 3 ## second
46
47 ## Axis and encoder parameters
48 axis_dir_cw = 0
49 encoder_dir_cw = 0
50
51 ## Polarity and enable parameters
52 active_low = 0
53 active_high = 1
54 forward_enable_true = 1
55 reverse_enable_true = 1
56 home_enable_false = 0
57
58 ## Get firmware model & version
59 driver_info = dev.Sys_getDriverInfo(timeout)
60 print("Model name: " + driver_info[0])
61 print("Firmware version: " + driver_info[-1])
62
63 ## Motion open
64 err = dev.Motion_open(port, timeout)
65 print(f"Motion_open in port {port}, status: {err}")
66
67 '''
68 ## Motion open configuration file
69 err = dev.Motion_openCfgFile('C:/Users/user/Desktop/3AxisStage_2P.ini')
70 print(f"openCfgFile, status: {err}")
71
72 ## Motion load configuration file
73 err = dev.Motion_loadCfgFile()
74 print(f"loadCfgFile, status: {err}")
75 '''
76
77 ## Motion configure
78 err = dev.Motion_cfgAxis(port, axis, two_pulse_mode, axis_dir_cw, encoder_dir_cw, active_low, timeout)
79 print(f"Motion_cfgAxis in axis{axis}, status: {err}")
80
81 err = dev.Motion_cfgLimit(port, axis, forward_enable_true, reverse_enable_true, active_low, timeout)
82 print(f"Motion_cfgLimit in axis{axis}, status: {err}")
83
84 err = dev.Motion_cfgHome(port, axis, home_enable_false, active_low, timeout)
85 print(f"Motion_cfgHome in axis{axis}, status: {err}")
86
87 err = dev.Motion_cfgAxisMove(port, axis, rel_posi_mode, target_posi=5000, velo=10000, accel=100000, decel=100000, timeout=timeout)
88 print(f"Motion_cfgAxisMove in axis{axis}, status: {err}")
89
90 err = dev.Motion_rstEncoderPosi(port, axis, encoder_posi=0, timeout=timeout)
91 print(f"Motion_rstEncoderPosi in axis{axis}, status: {err}")
92
93 ## Servo on
94 err = dev.Motion_enableServoOn(port, axis, timeout)
95 print(f"Motion_enableServoOn in axis{axis}, status: {err}")
96
97 ## Motion start
98 err = dev.Motion_startSingleAxisMove(port, axis, timeout)
99 print(f"Motion_startSingleAxisMove in axis{axis}, status: {err}")
100
101 move_status = 0
102 while move_status == 0:
103 err = dev.Motion_overrideAxisPosi(port, axis, new_position, timeout)
104 # print(f"Motion_overrideAxisPosi in axis{axis}, status: {err}")
105 move_status = dev.Motion_getMoveStatus(port, axis, timeout)
106 logical_posi = dev.Motion_getLogicalPosi(port, axis, timeout)
107 encoder_posi = dev.Motion_getEncoderPosi(port, axis, timeout)
108 print(f"logical_posi: {logical_posi}, encoder_posi: {encoder_posi}")
109
110 ## Motion stop
111 err = dev.Motion_stop(port, axis, stop_decel, timeout)
112 print(f"Motion_stop in axis{axis}, status: {err}")
113
114 ## Servo off
115 err = dev.Motion_enableServoOff(port, axis, timeout)
116 print(f"Motion_enableServoOff in axis{axis}, status: {err}")
117
118 ## Motion close
119 err = dev.Motion_close(port, timeout)
120 print(f"Motion_close in port {port}, status: {err}")
121 except Exception as err:
122 pywpc.printGenericError(err)
123
124 ## Disconnect device
125 dev.disconnect()
126
127 ## Release device handle
128 dev.close()
129
130 return
131
132if __name__ == '__main__':
133 main()