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