1'''
2Motion - Motion_velocity_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 velocity_mode = 2
43 stop_decel = 0
44 timeout = 3 ## second
45
46 ## Axis and encoder parameters
47 axis_dir_cw = 0
48 encoder_dir_cw = 0
49
50 ## Polarity and enable parameters
51 active_low = 0
52 active_high = 1
53 forward_enable_true = 1
54 reverse_enable_true = 1
55
56 ## Get firmware model & version
57 driver_info = dev.Sys_getDriverInfo()
58 print("Model name: " + driver_info[0])
59 print("Firmware version: " + driver_info[-1])
60
61 ## Motion open
62 err = dev.Motion_open(port, timeout)
63 print(f"Motion_open in port {port}, status: {err}")
64
65 '''
66 ## Motion open configuration file
67 err = dev.Motion_openCfgFile('C:/Users/user/Desktop/3AxisStage_2P.ini')
68 print(f"openCfgFile, status: {err}")
69
70 ## Motion load configuration file
71 err = dev.Motion_loadCfgFile()
72 print(f"loadCfgFile, status: {err}")
73 '''
74
75 ## Motion configure
76 err = dev.Motion_cfgAxis(port, axis, two_pulse_mode, axis_dir_cw, encoder_dir_cw, active_low, timeout)
77 print(f"Motion_cfgAxis in axis{axis}, status: {err}")
78
79 err = dev.Motion_cfgLimit(port, axis, forward_enable_true, reverse_enable_true, active_low, timeout)
80 print(f"Motion_cfgLimit in axis{axis}, status: {err}")
81
82 err = dev.Motion_cfgEncoder(port, axis, active_low, timeout)
83 print(f"Motion_cfgEncoder in axis{axis}, status: {err}")
84
85 err = dev.Motion_rstEncoderPosi(port, axis, encoder_posi=0, timeout=timeout)
86 print(f"Motion_rstEncoderPosi in axis{axis}, status: {err}")
87
88 err = dev.Motion_cfgAxisMove(port, axis, velocity_mode, target_posi=5000, velo=1000, accel=100000, decel=100000, timeout=timeout)
89 print(f"Motion_cfgAxisMove in axis{axis}, status: {err}")
90
91 ## Servo on
92 err = dev.Motion_enableServoOn(port, axis, timeout)
93 print(f"Motion_enableServoOn in axis{axis}, status: {err}")
94
95 ## Motion start
96 err = dev.Motion_startSingleAxisMove(port, axis, timeout)
97 print(f"Motion_startSingleAxisMove in axis{axis}, status: {err}")
98
99 ## Wait for seconds for moving
100 time.sleep(3) ## delay [s]
101
102 ## Motion override velocity
103 new_velo = 5000
104 err = dev.Motion_overrideAxisVelocity(port, axis, new_velo, timeout)
105 print(f"Motion_overrideAxisVelocity in axis{axis}, status: {err}")
106
107 ## Wait for seconds for moving
108 time.sleep(3) ## delay [s]
109
110 ## Motion override velocity
111 new_velo = -3000
112 err = dev.Motion_overrideAxisVelocity(port, axis, new_velo, timeout)
113 print(f"Motion_overrideAxisVelocity in axis{axis}, status: {err}")
114
115 ## Wait for seconds for moving
116 time.sleep(3) ## delay [s]
117
118 ## Motion stop
119 err = dev.Motion_stop(port, axis, stop_decel, timeout)
120 print(f"Motion_stop in axis{axis}, status: {err}")
121
122 ## Servo off
123 err = dev.Motion_enableServoOff(port, axis, timeout)
124 print(f"Motion_enableServoOff in axis{axis}, status: {err}")
125
126 ## Motion close
127 err = dev.Motion_close(port, timeout)
128 print(f"Motion_close in port {port}, status: {err}")
129 except Exception as err:
130 pywpc.printGenericError(err)
131
132 ## Disconnect device
133 dev.disconnect()
134
135 ## Release device handle
136 dev.close()
137
138 return
139
140if __name__ == '__main__':
141 main()