1'''
2Motion - Motion_save_configuration_file.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 timeout = 3 ## [sec]
41
42 ## Axis and encoder parameters
43 axis_dir_cw = 0
44 encoder_dir_cw = 0
45
46 ## Polarity and enable parameters
47 active_low = 0
48 active_high = 1
49
50 ## Get firmware model & version
51 driver_info = dev.Sys_getDriverInfo(timeout)
52 print(f"Model name: {driver_info[0]}, Firmware version: {driver_info[-1]} ")
53
54 ## Motion open
55 err = dev.Motion_open(port, timeout)
56 print(f"Motion_open in port {port}, status: {err}")
57
58 ## Motion open configuration file
59 err = dev.Motion_openCfgFile('C:/Users/user/Desktop/3AxisStage_2P.ini')
60 print(f"Motion_openCfgFile, status: {err}")
61
62 ## Motion configure
63 err = dev.Motion_cfgAxis(port, axis, two_pulse_mode, axis_dir_cw, encoder_dir_cw, active_low, timeout)
64 print(f"Motion_cfgAxis in axis{axis}, status: {err}")
65
66 err = dev.Motion_cfgAxisMove(port, axis, rel_posi_mode, target_posi=5000, velo=10000, accel=100000, decel=100000, timeout=timeout)
67 print(f"Motion_cfgAxisMove in axis{axis}, status: {err}")
68
69 ## Motion save configuration file
70 err = dev.Motion_saveCfgFile(timeout)
71 print(f"Motion_saveCfgFile, status: {err}")
72
73 ## Motion close
74 err = dev.Motion_close(port, timeout)
75 print(f"Motion_close in port {port}, status: {err}")
76 except Exception as err:
77 pywpc.printGenericError(err)
78
79 finally:
80 ## Disconnect device
81 dev.disconnect()
82
83 ## Release device handle
84 dev.close()
85
86
87if __name__ == '__main__':
88 main()