1'''
2Motion - Motion_velocity_blending_acceleration.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## Python
18import time
19
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 ## [sec]
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(timeout)
58 print(f"Model name: {driver_info[0]}, Firmware version: {driver_info[-1]} ")
59
60 ## Motion open
61 err = dev.Motion_open(port, timeout)
62 print(f"Motion_open in port {port}, status: {err}")
63
64 '''
65 ## Motion open configuration file
66 err = dev.Motion_openCfgFile('C:/Users/user/Desktop/3AxisStage_2P.ini')
67 print(f"openCfgFile, status: {err}")
68
69 ## Motion load configuration file
70 err = dev.Motion_loadCfgFile()
71 print(f"loadCfgFile, status: {err}")
72 '''
73
74 ## Motion configure
75 err = dev.Motion_cfgAxis(port, axis, two_pulse_mode, axis_dir_cw, encoder_dir_cw, active_low, timeout)
76 print(f"Motion_cfgAxis in axis{axis}, status: {err}")
77
78 err = dev.Motion_cfgAxisMove(port, axis, velocity_mode, target_posi=5000, velo=3000, accel=100000, decel=100000, timeout=timeout)
79 print(f"Motion_cfgAxisMove in axis{axis}, status: {err}")
80
81 ## Servo on
82 err = dev.Motion_enableServoOn(port, axis, timeout)
83 print(f"Motion_enableServoOn in axis{axis}, status: {err}")
84
85 err = dev.Motion_cfgLimit(port, axis, forward_enable_true, reverse_enable_true, active_low, timeout)
86 print(f"Motion_cfgLimit in axis{axis}, status: {err}")
87
88 err = dev.Motion_cfgEncoder(port, axis, active_low, timeout)
89 print(f"Motion_cfgEncoder in axis{axis}, status: {err}")
90
91 err = dev.Motion_rstEncoderPosi(port, axis, encoder_posi=0, timeout=timeout)
92 print(f"Motion_rstEncoderPosi in axis{axis}, status: {err}")
93
94 ## Motion start
95 err = dev.Motion_startSingleAxisMove(port, axis, timeout)
96 print(f"Motion_startSingleAxisMove in axis{axis}, status: {err}")
97
98 ## Wait for 5 seconds for moving
99 time.sleep(5) ## delay [sec]
100
101 ## Motion override velocity
102 new_velo = -3000
103 new_accel = 100
104 new_decel = 100
105 err = dev.Motion_overrideAxisVelocity(port, axis, new_velo, timeout)
106 print(f"Motion_overrideAxisVelocity in axis{axis}, status: {err}")
107
108 ## Motion override acceleration
109 err = dev.Motion_overrideAxisAccel(port, axis, new_accel, new_decel, timeout)
110 print(f"Motion_overrideAxisAccel in axis{axis}, status: {err}")
111
112 ## Wait for 5 seconds for moving
113 time.sleep(5) ## delay [sec]
114
115 new_velo = 6000
116 new_accel = 100000
117 new_decel = 100000
118 ## Motion override velocity
119 err = dev.Motion_overrideAxisVelocity(port, axis, new_velo, timeout)
120 print(f"Motion_overrideAxisVelocity in axis{axis}, status: {err}")
121
122 ## Motion override acceleration
123 err = dev.Motion_overrideAxisAccel(port, axis, new_accel, new_decel, timeout)
124 print(f"Motion_overrideAxisAccel in axis{axis}, status: {err}")
125
126 ## Motion stop
127 err = dev.Motion_stop(port, axis, stop_decel, timeout)
128 print(f"Motion_stop in axis{axis}, status: {err}")
129
130 ## Servo off
131 err = dev.Motion_enableServoOff(port, axis, timeout)
132 print(f"Motion_enableServoOff in axis{axis}, status: {err}")
133
134 ## Motion close
135 err = dev.Motion_close(port, timeout)
136 print(f"Motion_close in port {port}, status: {err}")
137 except Exception as err:
138 pywpc.printGenericError(err)
139
140 finally:
141 ## Disconnect device
142 dev.disconnect()
143
144 ## Release device handle
145 dev.close()
146
147
148if __name__ == '__main__':
149 main()