EMotion

Device pinout

API function description

class pywpc.EMotion

1. Ethernet based motion controller modular inter-connection

2. Easy and quick connect to Servo amplifier

3. Pulse/Direction or CW/CCW output mode

4. Differential output (Max: 8MPPS)

5. Encoder ABZ input (Max: 12MHz)

6. Break-point/Capture

7. Linear/Circular/helical interpolation/Multi-axes sync move S-Curve

Logger_openFile(filename, clear_old=True, verbose=True)

Open CSV file.

Parameters:

filenamestr

The file name.

clear_oldbool, default: True

Whether to clear old data (if the file alread exists) or not.

verbosebool, default: True

Whether to print message out.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Logger_write2DList(value_mat)

Write list of list into file.

Parameters:

value_matlist of list

The list of list of data to be written.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Logger_writeHeader(header)

Write header into file.

Parameters:

headerlist of str

Header to be written.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Logger_writeList(value_list)

Write list into file.

Parameters:

value_listlist

The list of data to be written.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Logger_writeValue(value)

Write value into file.

Parameters:

valueobject

The data to be written.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_cfg2AxisLinearInterpo(port, axis1, dest_posi1, axis2, dest_posi2, speed=10000, accel=100000, decel=100000, timeout=3)

Configure two axis linear interpolation parameters.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis1{0, 1, 2, 3}

Axis1.

dest_posi1int

Destination of axis1.

axis2{0, 1, 2, 3}

Axis2.

dest_posi2int

Destination of axis2.

speedint

Speed vector of linear interpolation.

accelint

Acceleration value in counts/s2 or steps/s2.

decelint

Deceleration value in counts/s2 or steps/s2.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_cfg2AxisLinearInterpo_async(port, axis1, dest_posi1, axis2, dest_posi2, speed=10000, accel=100000, decel=100000)

Configure two axis linear interpolation parameters with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis1{0, 1, 2, 3}

Axis1.

dest_posi1int

Destination of axis1.

axis2{0, 1, 2, 3}

Axis2.

dest_posi2int

Destination of axis2.

speedint

Speed vector of linear interpolation.

accelint

Acceleration value in counts/s2 or steps/s2.

decelint

Deceleration value in counts/s2 or steps/s2.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_cfg3AxisLinearInterpo(port, axis1, dest_posi1, axis2, dest_posi2, axis3, dest_posi3, speed=10000, accel=100000, decel=100000, timeout=3)

Configure three axis linear interpolation parameters.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis1{0, 1, 2, 3}

Axis1.

dest_posi1int

Destination of axis1.

axis2{0, 1, 2, 3}

Axis2.

dest_posi2int

Destination of axis2.

axis3{0, 1, 2, 3}

Axis3.

dest_posi3int

Destination of axis3.

speedint

Speed vector of linear interpolation.

accelint

Acceleration value in counts/s2 or steps/s2.

decelint

Deceleration value in counts/s2 or steps/s2.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_cfg3AxisLinearInterpo_async(port, axis1, dest_posi1, axis2, dest_posi2, axis3, dest_posi3, speed=10000, accel=100000, decel=100000)

Configure three axis linear interpolation parameters with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis1{0, 1, 2, 3}

Axis1.

dest_posi1int

Destination of axis1.

axis2{0, 1, 2, 3}

Axis2.

dest_posi2int

Destination of axis2.

axis3{0, 1, 2, 3}

Axis3.

dest_posi3int

Destination of axis3.

speedint

Speed vector of linear interpolation.

accelint

Acceleration value in counts/s2 or steps/s2.

decelint

Deceleration value in counts/s2 or steps/s2.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_cfg4AxisLinearInterpo(port, axis1, dest_posi1, axis2, dest_posi2, axis3, dest_posi3, axis4, dest_posi4, speed, accel=100000, decel=100000, timeout=3)

Configure four axis linear interpolation parameters.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis1{0, 1, 2, 3}

Axis1.

dest_posi1int

Destination of axis1.

axis2{0, 1, 2, 3}

Axis2.

dest_posi2int

Destination of axis2.

axis3{0, 1, 2, 3}

Axis3.

dest_posi3int

Destination of axis3.

axis4{0, 1, 2, 3}

Axis3.

dest_posi4int

Destination of axis4.

speedint

Speed vector of linear interpolation.

accelint

Acceleration value in counts/s2 or steps/s2.

decelint

Deceleration value in counts/s2 or steps/s2.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_cfg4AxisLinearInterpo_async(port, axis1, dest_posi1, axis2, dest_posi2, axis3, dest_posi3, axis4, dest_posi4, speed, accel=100000, decel=100000)

Configure four axis linear interpolation parameters with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis1{0, 1, 2, 3}

Axis1.

dest_posi1int

Destination of axis1.

axis2{0, 1, 2, 3}

Axis2.

dest_posi2int

Destination of axis2.

axis3{0, 1, 2, 3}

Axis3.

dest_posi3int

Destination of axis3.

axis4{0, 1, 2, 3}

Axis3.

dest_posi4int

Destination of axis4.

speedint

Speed vector of linear interpolation.

accelint

Acceleration value in counts/s2 or steps/s2.

decelint

Deceleration value in counts/s2 or steps/s2.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_cfgAlarm(port, axis, en_alarm, alarm_polarity, timeout=3)

Configure alarm parameters.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

en_alarm{0, 1}

Enable alarm inputs. 0: False, 1: True.

alarm_polarity{0, 1}

Set the polarity for alarm. 0: Active Low, 1: Active High.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_cfgAlarm_async(port, axis, en_alarm, alarm_polarity)

Configure alarm parameters with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

en_alarm{0, 1}

Enable alarm inputs. 0: False, 1: True.

alarm_polarity{0, 1}

Set the polarity for alarm. 0: Active Low, 1: Active High.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_cfgAxis(port, axis, stepper_output, axis_dir, encoder_dir, servo_on_polarity, timeout=3)

Configure axis parameters.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

stepper_output{0, 1}

It specifies the mode as Step and Direction (one pulse) or Clockwise/Counterclockwise.(two pulse) 0: Step/Dir(One Pulse), 1: CW/CCW(Two Pulse).

axis_dir{0, 1}

Set axis direction to CW or CCW. 0: CW, 1: CCW.

encoder_dir{0, 1}

Set encoder direction to CW or CCW. 0: CW, 1: CCW.

servo_on_polarity{0, 1}

Set the polarity for servo on. 0: Active Low, 1: Active High.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_cfgAxisMove(port, axis, mode, target_posi=0, velo=10000, accel=100000, decel=100000, timeout=3)

Configure motion operation mode, target position, velocity, acceleration and deceleration of a single axis move.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

mode{0, 1, 2}

Operation mode. 0: Absolute mode, 1: Relative mode, 2: Velocity mode.

target_posiint

Target position in counts or steps.

veloint

Velocity in counts/s or steps/s.

accelint

Acceleration value in counts/s2 or steps/s2.

decelint

Deceleration value in counts/s2 or steps/s2.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_cfgAxisMove_async(port, axis, mode, target_posi=0, velo=10000, accel=100000, decel=100000)

Configure motion operation mode, target position, velocity, acceleration and deceleration of a single axis move with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

mode{0, 1, 2}

Operation mode. 0: Absolute mode, 1: Relative mode, 2: Velocity mode.

target_posiint

Target position in counts or steps.

veloint

Velocity in counts/s or steps/s.

accelint

Acceleration value in counts/s2 or steps/s2.

decelint

Deceleration value in counts/s2 or steps/s2.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_cfgAxis_async(port, axis, stepper_output, axis_dir, encoder_dir, servo_on_polarity)

Configure axis parameters with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

stepper_output{0, 1}

It specifies the mode as Step and Direction (one pulse) or Clockwise/Counterclockwise.(two pulse) 0: Step/Dir(One Pulse), 1: CW/CCW(Two Pulse).

axis_dir{0, 1}

Set axis direction to CW or CCW. 0: CW, 1: CCW.

encoder_dir{0, 1}

Set encoder direction to CW or CCW. 0: CW, 1: CCW.

servo_on_polarity{0, 1}

Set the polarity for servo on. 0: Active Low, 1: Active High.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_cfgBreakPoint(port, axis, mode, breakpoint_polarity, start_posi, pulse_width, pulse_period, pulse_number, timeout=3)

Configure breakpoint parameters.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

mode{0, 1}

0: Absolute position, 1: Relative position.

breakpoint_polarity{0, 1}

Set the polarity for breakpoint. 0: Active Low, 1: Active High.

start_posiint

The start position.

pulse_widthint

The pulse width.

pulse_periodint

The pulse period.

pulse_numberint

The pulse period.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_cfgBreakPoint_async(port, axis, mode, breakpoint_polarity, start_posi, pulse_width, pulse_period, pulse_number)

Configure breakpoint parameters with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

mode{0, 1}

0: Absolute position, 1: Relative position.

breakpoint_polarity{0, 1}

Set the polarity for breakpoint. 0: Active Low, 1: Active High.

start_posiint

The start position.

pulse_widthint

The pulse width.

pulse_periodint

The pulse period.

pulse_numberint

The pulse period.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_cfgCapture(port, axis, capture_type, mode, timeout=3)

Configure capture parameters.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

capture_type{0, 1}

0: Rising edge, 1: Falling edge.

mode{0, 1}

0: Logical position, 1: Encoder position.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_cfgCapture_async(port, axis, capture_type, mode)

Configure capture parameters with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

capture_type{0, 1}

0: Rising edge, 1: Falling edge.

mode{0, 1}

0: Logical position, 1: Encoder position.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_cfgCircularInterpo(port, x_axis, y_axis, center_point_x, center_point_y, finish_point_x, finish_point_y, dir, speed=10000, accel=100000, decel=100000, timeout=3)

Configure circular interpolation parameters.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

x_axis{0, 1, 2, 3}

x_axis.

y_axis{0, 1, 2, 3}

y_axis.

center_point_xint

Set the center point of x by the relative value with respect to the current position.

center_point_yint

Set the center point of y by the relative value with respect to the current position.

finish_point_xint

Set the finish point of x by the relative value with respect to the current position.

finish_point_yint

Set the finish point of y by the relative value with respect to the current position.

dir{0, 1}

Set circular direction to CW or CCW. 0: CW, 1: CCW.

speedint

Speed vector of circular interpolation.

accelint

Acceleration value in counts/s2 or steps/s2.

decelint

Deceleration value in counts/s2 or steps/s2.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_cfgCircularInterpo_async(port, x_axis, y_axis, center_point_x, center_point_y, finish_point_x, finish_point_y, dir, speed=10000, accel=100000, decel=100000)

Configure circular interpolation parameters with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

x_axis{0, 1, 2, 3}

x_axis.

y_axis{0, 1, 2, 3}

y_axis.

center_point_xint

Set the center point of x by the relative value with respect to the current position.

center_point_yint

Set the center point of y by the relative value with respect to the current position.

finish_point_xint

Set the finish point of x by the relative value with respect to the current position.

finish_point_yint

Set the finish point of y by the relative value with respect to the current position.

dir{0, 1}

Set circular direction to CW or CCW. 0: CW, 1: CCW.

speedint

Speed vector of circular interpolation.

accelint

Acceleration value in counts/s2 or steps/s2.

decelint

Deceleration value in counts/s2 or steps/s2.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_cfgEncoder(port, axis, encoder_z_polarity, timeout=3)

Configure encoder parameters.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

encoder_z_polarity{0, 1}

Set the polarity for encoder Z. 0: Active Low, 1: Active High.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_cfgEncoder_async(port, axis, encoder_z_polarity)

Configure encoder parameters with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

encoder_z_polarity{0, 1}

Set the polarity for encoder Z. 0: Active Low, 1: Active High.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_cfgFindRef(port, axis, search_type, search_dir, search_velo=10000, search_accle=100000, approach_velo_percent=20, en_reset_posi=0, offset_posi=0, timeout=3)

Configure find reference parameters.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

search_type{0, 1, 2}

Reference position to find. 0: Home, 1: Index, 2: Limit.

search_dirint

Set search direction to forward or reverse. 0: Forward, 1: Reverse.

search_veloint

Set velocity in counts/s or steps/s.

search_accleint

Set acceleration value in counts/s2 or steps/s2.

approach_velo_percentint or float

The percent of the loaded velocity that a given axis uses to perform final adjustments.

en_reset_posiint

If true, after successfully locating the given reference, it resets positions to values indicated by current position. If false, no reset is performed. 0: False, 1: True.

offset_posiint

Performs an offset move of a given distance, in counts (steps), after successfully locating the given reference, but before resetting the position if a reset is requested.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_cfgFindRef_async(port, axis, search_type, search_dir, search_velo=10000, search_accle=100000, approach_velo_percent=20, en_reset_posi=0, offset_posi=0)

Configure find reference parameters with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

search_type{0, 1, 2}

Reference position to find. 0: Home, 1: Index, 2: Limit.

search_dirint

Set search direction to forward or reverse. 0: Forward, 1: Reverse.

search_veloint

Set velocity in counts/s or steps/s.

search_accleint

Set acceleration value in counts/s2 or steps/s2.

approach_velo_percentint or float

The percent of the loaded velocity that a given axis uses to perform final adjustments.

en_reset_posiint

If true, after successfully locating the given reference, it resets positions to values indicated by current position. If false, no reset is performed. 0: False, 1: True.

offset_posiint

Performs an offset move of a given distance, in counts (steps), after successfully locating the given reference, but before resetting the position if a reset is requested.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_cfgHelicalInterpo(port, center_point_x, center_point_y, finish_point_x, finish_point_y, en_axis3, pitch_axis3, en_axis4, pitch_axis4, rotation_number, speed, dir, calculation_timeout, timeout=3)

Configure helical interpolation parameters.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

center_point_xint

Set the center point of x by the relative value with respect to the current position.

center_point_yint

Set the center point of y by the relative value with respect to the current position.

finish_point_xint

Set the finish point of x by the relative value with respect to the current position.

finish_point_yint

Set the finish point of y by the relative value with respect to the current position.

en_axis3{0, 1}

0: False, 1: True.

pitch_axis3int

The axis3 pitch.

en_axis4{0, 1}

0: False, 1: True.

pitch_axis4int

The axis4 pitch.

rotation_numberint

speedint

Speed vector of circular interpolation.

dir{0, 1}

Set circular direction to CW or CCW. 0: CW, 1: CCW.

calculation_timeoutint

Helical calculation timeout.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_cfgHelicalInterpo_async(port, center_point_x, center_point_y, finish_point_x, finish_point_y, en_axis3, pitch_axis3, en_axis4, pitch_axis4, rotation_number, speed, dir, calculation_timeout)

Configure helical interpolation parameters with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

center_point_xint

Set the center point of x by the relative value with respect to the current position.

center_point_yint

Set the center point of y by the relative value with respect to the current position.

finish_point_xint

Set the finish point of x by the relative value with respect to the current position.

finish_point_yint

Set the finish point of y by the relative value with respect to the current position.

en_axis3{0, 1}

0: False, 1: True.

pitch_axis3int

The axis3 pitch.

en_axis4{0, 1}

0: False, 1: True.

pitch_axis4int

The axis4 pitch.

rotation_numberint

speedint

Speed vector of circular interpolation.

dir{0, 1}

Set circular direction to CW or CCW. 0: CW, 1: CCW.

calculation_timeoutint

Helical calculation timeout.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_cfgHome(port, axis, en_home, home_polarity, timeout=3)

Configure home parameters.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

en_home{0, 1}

enable home inputs. 0: False, 1: True.

home_polarity{0, 1}

Set the polarity for home. 0: Active Low, 1: Active High.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_cfgHome_async(port, axis, en_home, home_polarity)

Configure home parameters with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

en_home{0, 1}

enable home inputs. 0: False, 1: True.

home_polarity{0, 1}

Set the polarity for home. 0: Active Low, 1: Active High.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_cfgInposi(port, axis, en_inposi, inposi_polarity, timeout=3)

Configure Inposition parameters.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

en_inposi{0, 1}

Enable Inposition inputs. 0: False, 1: True.

inposi_polarity{0, 1}

Set the polarity for inposition. 0: Active Low, 1: Active High.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_cfgInposi_async(port, axis, en_inposi, inposi_polarity)

Configure Inposition parameters with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

en_inposi{0, 1}

Enable Inposition inputs. 0: False, 1: True.

inposi_polarity{0, 1}

Set the polarity for inposition. 0: Active Low, 1: Active High.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_cfgJerkAndAccelMode(port, axis, jerk, accel_mode, timeout=3)

Configure jerk and acceleration parameters.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

jerkint

Accerleration increasing/ decreasing rate per unit time.

acceleration_mode{0, 1}

Trapezoidal or S curve mode. 0: Trapezoidal, 1: S curve.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_cfgJerkAndAccelMode_async(port, axis, jerk, accel_mode)

Configure jerk and acceleration parameters with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

jerkint

Accerleration increasing/ decreasing rate per unit time.

acceleration_mode{0, 1}

Trapezoidal or S curve mode. 0: Trapezoidal, 1: S curve.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_cfgLimit(port, axis, en_forward, en_reverse, limit_polarity, timeout=3)

Configure limit enable and polarity.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

en_forward{0, 1}

Enable forward limit inputs. 0: False, 1: True.

en_reverse{0, 1}

Enable reverse limit inputs. 0: False, 1: True.

limit_polarity{0, 1}

Set the polarity for limit. 0: Active Low, 1: Active High.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_cfgLimit_async(port, axis, en_forward, en_reverse, limit_polarity)

Configure limit enable and polarity with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

en_forward{0, 1}

Enable forward limit inputs. 0: False, 1: True.

en_reverse{0, 1}

Enable reverse limit inputs. 0: False, 1: True.

limit_polarity{0, 1}

Set the polarity for limit. 0: Active Low, 1: Active High.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_checkRef(port, axis, timeout=3)

Check the status of a search sequence initiated by find reference.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

0 : finding reference 1 : found reference

async Motion_checkRef_async(port, axis)

Check the status of a search sequence initiated by find reference with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

Returns:

statusint

0 : finding reference 1 : found reference

Motion_close(port, timeout=3)

Close motion module on a given port.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_close_async(port)

Close motion module on a given port with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_enableBreakPoint(port, axis, en_break, timeout=3)

Set the breakpoint singal of specific axis.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

en_break{0, 1}

Enable breakpoint. 0: False, 1: True.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_enableBreakPoint_async(port, axis, en_break)

Set the breakpoint singal of specific axis with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

en_break{0, 1}

Enable breakpoint. 0: False, 1: True.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_enableCapture(port, axis, en_capture, timeout=3)

Set the capture singal of specific axis.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

en_capture{0, 1}

Enable capture. 0: False, 1: True.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_enableCapture_async(port, axis, en_capture)

Set the capture singal of specific axis with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

en_capture{0, 1}

Enable capture. 0: False, 1: True.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_enableServoOff(port, axis, timeout=3)

Servo off singal of specific axis.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_enableServoOff_async(port, axis)

Servo off singal of specific axis with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_enableServoOn(port, axis, timeout=3)

Servo on singal of specific axis.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_enableServoOn_async(port, axis)

Servo on singal of specific axis with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_findRef(port, axis, timeout=3)

Execute a search operation to find a reference position.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_findRef_async(port, axis)

Execute a search operation to find a reference position with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_getEncoderPosi(port, axis, timeout=3)

Get emcoder position for an axis.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

Returns:

statusint

Encoder position of the axis.

async Motion_getEncoderPosi_async(port, axis)

Get Encoder position for an axis with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

Returns:

statusint

Encoder position of the axis.

Motion_getHomeStatus(port, axis, timeout=3)

Read the instantaneous status of the home inputs.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Home input status.

async Motion_getHomeStatus_async(port, axis)

Read the instantaneous status of the home inputs with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

Returns:

statusint

Home input status.

Motion_getLimitStatus(port, axis, timeout=3)

Read the instantaneous status of the hardware limit inputs.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statuslist

List int of the forward and reverse limit inputs status.

async Motion_getLimitStatus_async(port, axis)

Read the instantaneous status of the hardware limit inputs with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

Returns:

statuslist

List int of the forward and reverse limit inputs status.

Motion_getLogicalPosi(port, axis, timeout=3)

Get logical position for an axis.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

Returns:

statusint

Logical position of the axis.

async Motion_getLogicalPosi_async(port, axis)

Get logical position for an axis with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

Returns:

statusint

Logical position of the axis.

Motion_getMoveStatus(port, axis, timeout=3)

Read the move complete status of an axis.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

If return value is 1, move complete.

async Motion_getMoveStatus_async(port, axis)

Read the move complete status of an axis with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

Returns:

statusint

If return value is 1, move complete.

Motion_loadCfgFile(timeout=3)

Load motion parameters from configuration file.

Parameters:

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_loadCfgFile_async()

Load motion parameters from configuration file with async mode.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_open(port, timeout=3)

Open motion module on a given port.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_openCfgFile(filename='test.ini')

Open configuration file.

Parameters:

filenamestr

The file name.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_openCfgFile_async(filename='test.ini')

Open configuration file with async mode.

Parameters:

filenamestr

The file name.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_open_async(port)

Open motion module on a given port with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_overrideAxisAccel(port, axis, new_accel, new_decel, timeout=3)

Override instantaneous accerleration / deceleration for an axis.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

new_accelint

Acceleration value in counts/s2 or steps/s2.

new_decelint

Deceleration value in counts/s2 or steps/s2.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_overrideAxisAccel_async(port, axis, new_accel, new_decel)

Override instantaneous accerleration / deceleration for an axis with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

new_accelint

Acceleration value in counts/s2 or steps/s2.

new_decelint

Deceleration value in counts/s2 or steps/s2.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_overrideAxisPosi(port, axis, new_position, timeout=3)

Override new position for an axis.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

new_positionint

New position for an axis.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_overrideAxisPosi_async(port, axis, new_position)

Override new position for an axis with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

new_positionint

New position for an axis.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_overrideAxisVelocity(port, axis, new_velo, timeout=3)

Override instantaneous velocity for an axis.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

new_veloint

Velocity in counts/s or steps/s.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_overrideAxisVelocity_async(port, axis, new_velo)

Override instantaneous velocity for an axis with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

new_veloint

Velocity in counts/s or steps/s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_readCapturePoint(port, axis, timeout=3)

Read a captured position value from an axis or encoder.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Captured position value.

async Motion_readCapturePoint_async(port, axis)

Read a captured position value from an axis or encoder with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

Returns:

statusint

Captured position value.

Motion_rstEncoderPosi(port, axis, encoder_posi=0, timeout=3)

Reset the position of an encoder.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

encoder_posiint

Reset value for axis.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_rstEncoderPosi_async(port, axis, encoder_posi=0)

Reset the position of an encoder with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

encoder_posiint

Reset value for axis.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_saveCfgFile()

Save motion parameters into configuration file.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_saveCfgFile_async()

Save motion parameters into configuration file with async mode.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_setLogicalPosi(port, axis, counter, timeout=3)

Set logical position for an axis.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

counterint

The number of counter.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_setLogicalPosi_async(port, axis, counter)

Set logical position for an axis with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

counterint

The number of counter.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_startCircularInterpo(port, timeout=3)

Start circular interpolation.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_startCircularInterpo_async(port)

Start circular interpolation with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_startHelicalInterpo(port, timeout=3)

Start helical interpolation.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_startHelicalInterpo_async(port)

Start helical interpolation with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_startLinearInterpo(port, timeout=3)

Start linear interpolation.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_startLinearInterpo_async(port)

Start linear interpolation with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_startMultiAxisMove(port, axis_list, timeout=3)

Start motion of multiple axes.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis_listlist

The list of axis to select multi move.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_startMultiAxisMove_async(port, axis_list)

Start motion of multiple axes with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis_listlist

The list of axis to select multi move.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_startSingleAxisMove(port, axis, timeout=3)

Start motion of single axis.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_startSingleAxisMove_async(port, axis)

Start motion of single axis with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Motion_stop(port, axis, mode, timeout=3)

Stop motion of an axis.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

mode{0, 1}

Mode of stop to execute. 0: deceleration, 1: halt.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Motion_stop_async(port, axis, mode)

Stop motion of an axis with async mode.

Parameters:

portint

Port number. See here for available ports of different WPC devices.

axis{0, 1, 2, 3}

Axis selector.

mode{0, 1}

Mode of stop to execute. 0: deceleration, 1: halt.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Net_getGateway(timeout=3)

Get geteway from the connected web device.

Parameters:

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

gatewaystr of 4 int separated by period.

Network gateway.

async Net_getGateway_async()

Get geteway from the connected web device with async mode.

Returns:

gatewaystr of 4 int separated by period.

Network gateway.

Net_getIPAddrAndSubmask(timeout=3)

Get IP address and subnet mask from the connected web device.

Parameters:

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

network_infolist of 2 str.

• network_info[0]: IP address

• network_info[1]: subnet mask

async Net_getIPAddrAndSubmask_async()

Get IP address and subnet mask from the connected web device with async mode.

Returns:

network_infolist of 2 str.

• network_info[0]: IP address

• network_info[1]: subnet mask

Net_getMACAddr(timeout=3)

Get MAC address from the connected web device.

Parameters:

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

mac_addrstr of 6 int separated by colon.

MAC address.

async Net_getMACAddr_async()

Get MAC address from the connected web device with async mode.

Returns:

mac_addrstr of 6 int separated by colon.

MAC address.

Net_setIPAddrAndSubmask(ip_addr, subnet_mask='255.255.255.0', timeout=3)

Set IP address and subnet mask to the connected web device.

Parameters:

ip_addrstr of 4 int separated by period.

IP network address.

subnet_maskstr of 4 int separated by period.

Subnet mask. (default: “255.255.255.0”)

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Net_setIPAddrAndSubmask_async(ip_addr, subnet_mask='255.255.255.0')

Set IP address and subnet mask to the connected web device with async mode.

Parameters:

ip_addrstr of 4 int separated by period.

IP network address.

subnet_maskstr of 4 int separated by period.

Subnet mask. (default: “255.255.255.0”)

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

SNTP_getPeriod(timeout=3)

Get the SNTP period.

Parameters:

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

periodfloat

Period of synchronization in [sec].

async SNTP_getPeriod_async()

Get the SNTP period with async mode.

Returns:

periodfloat

Period of synchronization in [sec].

SNTP_getServerIP(timeout=3)

Get the SNTP server IP.

Parameters:

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

IPstr of 4 int separated by period.

IP address of the target SNTP server; 255.255.255.255 means automatic search.

async SNTP_getServerIP_async()

Get the SNTP server IP with async mode.

Returns:

IPstr of 4 int separated by period.

IP address of the target SNTP server; 255.255.255.255 means automatic search.

SNTP_getSyncStatus(timeout=3)

Get the SNTP status.

Parameters:

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

IPstr of 4 int separated by period.

IP address of the connected SNTP server; 0.0.0.0 means no server is reachable.

async SNTP_getSyncStatus_async()

Get the SNTP status with async mode.

Returns:

IPstr of 4 int separated by period.

IP address of the connected SNTP server; 0.0.0.0 means no server is reachable.

SNTP_setPeriod(period, timeout=3)

Set the SNTP period.

Parameters:

periodfloat

Period of synchronization in [sec].

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async SNTP_setPeriod_async(period)

Set the SNTP period with async mode.

Parameters:

periodfloat

Period of synchronization in [sec].

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

SNTP_setServerIP(ip_addr='255.255.255.255', timeout=3)

Set the SNTP server IP.

Parameters:

ip_addrstr of 4 int separated by period.

IP address of the target SNTP server; 255.255.255.255 means automatic search.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async SNTP_setServerIP_async(ip_addr='255.255.255.255')

Set the SNTP server IP with async mode.

Parameters:

ip_addrstr of 4 int separated by period.

IP address of the target SNTP server; 255.255.255.255 means automatic search.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

SNTP_syncNow(timeout=3)

Synchronize SNTP.

Parameters:

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async SNTP_syncNow_async()

Synchronize SNTP with async mode.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Sys_getDeviceAlias(timeout=3)

Get device alias name.

Parameters:

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

Alias namestring

The alias name of the device.

async Sys_getDeviceAlias_async()

Get device alias name with async mode.

Returns:

Alias namestring

The alias name of the device.

Sys_getDriverInfo(timeout=3)

Get device firmware information.

Parameters:

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

driver_infolist of three string

• driver_info[0]: Model name.

• driver_info[1]: Mode.

• driver_info[2]: Firmware version.

async Sys_getDriverInfo_async()

Get device firmware information with async mode.

Returns:

driver_infolist of three string

• driver_info[0]: Model name.

• driver_info[1]: Mode.

• driver_info[2]: Firmware version.

Sys_getGateway(timeout=3)

Deprecated in v1.0.5. Will be removed in v1.2.0.

See :ref:Net_getGateway.

async Sys_getGateway_async()

Deprecated in v1.0.5. Will be removed in v1.2.0.

See :ref:Net_getGateway_async.

Sys_getIPAddrAndSubmask(timeout=3)

Deprecated in v1.0.5. Will be removed in v1.2.0.

See :ref:Net_getIPAddrAndSubmask.

async Sys_getIPAddrAndSubmask_async()

Deprecated in v1.0.5. Will be removed in v1.2.0.

See :ref:Net_getIPAddrAndSubmask_async.

Sys_getMACAddr(timeout=3)

Deprecated in v1.0.5. Will be removed in v1.2.0.

See :ref:Net_getMACAddr.

async Sys_getMACAddr_async()

Deprecated in v1.0.5. Will be removed in v1.2.0.

See :ref:Net_getMACAddr_async.

Sys_getMode(slot, timeout=3)

Get the mode from a given slot.

Parameters:

slotint

Slot number. See here for available slot of different WPC devices.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

str_str

Mode of slot.

async Sys_getMode_async(slot)

Get the mode from a given slot with async mode.

Parameters:

slotint

Slot number. See here for available slot of different WPC devices.

Returns:

str_str

Mode of slot.

Sys_getPinModeInPort(port, timeout=3)

Get pin mode in specific port.

Parameters:

portint

See here for available ports of different WPC devices.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

pinsint

How many pins in specific port.

pin_modelist of 8 string

• [pin0, pin1,……pin7]

• pinmode : Disabled, Idle, DI, DO, UART, I2C, SPI, CAN, PWM and ADC.

async Sys_getPinModeInPort_async(port)

Get pin mode in specific port with async mode.

Parameters:

portint

See here for available ports of different WPC devices.

Returns:

pinsint

How many pins in specific port.

pin_modelist of 8 string

• [pin0, pin1,……pin7]

• pinmode : Disabled, Idle, DI, DO, UART, I2C, SPI, CAN, PWM and ADC.

Sys_getPythonVersion(timeout=3)

Get python software version.

Parameters:

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

versionstring

async Sys_getPythonVersion_async()

Get python software version with async mode.

Returns:

versionstring

Sys_getRTC(timeout=3)

Get RTC date and time.

Parameters:

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

str_str

Date and time represented by “A-B-C, D:E:F”.

• “A” is year.

• “B” is month.

• “C” is day.

• “D” is hour.

• “E” is minute.

• “F” is second.

async Sys_getRTC_async()

Get RTC date and time with async mode.

Returns:

str_str

Date and time represented by “A-B-C, D:E:F”.

• “A” is year.

• “B” is month.

• “C” is day.

• “D” is hour.

• “E” is minute.

• “F” is second.

Sys_getSerialNumber(timeout=3)

Get serial number.

Parameters:

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

str_str

Serial number represented by string of 8 characters.

async Sys_getSerialNumber_async()

Get serial number with async mode.

Returns:

str_str

Serial number represented by string of 8 characters.

Sys_reboot(timeout=3)

Reboot the device.

Parameters:

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Sys_reboot_async()

Reboot the device with async mode.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Sys_setAIOMode(slot, timeout=3)

Set the AIO state on a given slot.

Parameters:

slotint

Slot number. See here for available slot of different WPC devices.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Sys_setAIOMode_async(slot)

Set the AIO state on a given slot with async mode.

Parameters:

slotint

Slot number. See here for available slot of different WPC devices.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Sys_setDIMode(slot, timeout=3)

Set the DI state on a given slot.

Parameters:

slotint

Slot number. See here for available slot of different WPC devices.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Sys_setDIMode_async(slot)

Set the DI state on a given slot with async mode.

Parameters:

slotint

Slot number. See here for available slot of different WPC devices.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Sys_setDIOMode(slot, timeout=3)

Set the DIO state for the slot in the connected WPC device.

Parameters:

slotint

Slot number. See here for available slot of different WPC devices.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Sys_setDIOMode_async(slot)

Set the DIO state for the slot in the connected WPC device with async mode.

Parameters:

slotint

Slot number. See here for available slot of different WPC devices.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Sys_setDOMode(slot, timeout=3)

Set the DO state for the slot in the connected WPC device.

Parameters:

slotint

Slot number. See here for available slot of different WPC devices.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Sys_setDOMode_async(slot)

Set the DO state for the slot in the connected WPC device with async mode.

Parameters:

slotint

Slot number. See here for available slot of different WPC devices.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Sys_setDeviceAlias(alias, timeout=3)

Set the alias name of the device.

Parameters:

aliasstr

The alias name of the device

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Sys_setDeviceAlias_async(alias)

Set the alias name of the device.

Parameters:

aliasstr

The alias name of the device

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Sys_setIPAddrAndSubmask(ip_addr, subnet_mask='255.255.255.0', timeout=3)

Deprecated in v1.0.5. Will be removed in v1.2.0.

See :ref:Net_setIPAddrAndSubmask.

async Sys_setIPAddrAndSubmask_async(ip_addr, subnet_mask='255.255.255.0')

Deprecated in v1.0.5. Will be removed in v1.2.0.

See :ref:Net_setIPAddrAndSubmask_async.

Sys_setIdleMode(slot, timeout=3)

Set the IDLE state on a given slot.

Parameters:

slotint

Slot number. See here for available slot of different WPC devices.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Sys_setIdleMode_async(slot)

Set the IDLE state on a given slot with async mode.

Parameters:

slotint

Slot number. See here for available slot of different WPC devices.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Sys_setMotionMode(slot, timeout=3)

Set the motion state on a given slot.

Parameters:

slotint

Slot number. See here for available slot of different WPC devices.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Sys_setMotionMode_async(slot)

Set the motion state on a given slot with async mode.

Parameters:

slotint

Slot number. See here for available slot of different WPC devices.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Sys_setRTC(year, month, day, hour, minute, second, timeout=3)

Set RTC date and time.

Parameters:

yearint

year (CE).

monthint

month (1~12).

dayint

day (1~31).

hourint

hour (24-hour clock) (0~23).

minuteint

minute (0~59).

secondint

second (0~59).

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Sys_setRTC_async(year, month, day, hour, minute, second)

Set RTC date and time with async mode.

Parameters:

yearint

year (CE).

monthint

month (1~12).

dayint

day (1~31).

hourint

hour (24-hour clock) (0~23).

minuteint

minute (0~59).

secondint

second (0~59).

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Sys_setSwitchMode(slot, timeout=3)

Set the switch state on a given slot.

Parameters:

slotint

Slot number. See here for available slot of different WPC devices.

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Sys_setSwitchMode_async(slot)

Set the switch state on a given slot with async mode.

Parameters:

slotint

Slot number. See here for available slot of different WPC devices.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Sys_startRTCAlarm(mode, day, hour, minute, second, timeout=3)

Start RTC time to alarm AI.

Parameters:

modeint

0: Day value interpreted as calendar day. 1: Day value interpreted as weekday.

dayint

Celendar day (1~31)/ Weekday (1~7).

hourint

hour (24-hour clock) (0~23).

minuteint

minute (0~59).

secondint

second (0~59).

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Sys_startRTCAlarm_async(mode, day, hour, minute, second)

Start RTC time to alarm AI with async mode.

Parameters:

modeint

0: Day value interpreted as calendar day. 1: Day value interpreted as weekday.

dayint

Celendar day (1~31)/ Weekday (1~7).

hourint

hour (24-hour clock) (0~23).

minuteint

minute (0~59).

secondint

second (0~59).

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

Sys_stopRTCAlarm(timeout=3)

Stop alarming.

Parameters:

timeoutint

Specify the time (sec) to wait before reporting a timeout error. The default is 3 s.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

async Sys_stopRTCAlarm_async()

Stop alarming with async mode.

Returns:

statusint

Return 0 if executed successfully; return error code otherwise. See here for corresponding error messages.

close()

Close web device handle.

Parameters:

verbose: bool, default: True

Whether to print out messages or not.

Returns:

None

connect(ip_addr='192.168.1.110', port=7, verbose=True)

Connect handle to web device.

Parameters:

ip_addrstr of 4 int separated by period.

IP network address of the WPC device to connect to.

portint, default: 7

TCP port.

verbose: bool, default: True

Whether to print out messages or not.

Returns:

None

disconnect(verbose=True)

Disconnect handle from web device.

Parameters:

verbose: bool, default: True

Whether to print out messages or not.

Returns:

None