1'''
2Motion - Motion_find_home.py with asynchronous mode.
3
4-------------------------------------------------------------------------------------
5Please change correct serial number or IP and port number BEFORE you run example code.
6
7For other examples please check:
8 https://github.com/WPC-Systems-Ltd/WPC_Python_driver_release/tree/main/examples
9See README.md file to get detailed usage of this example.
10
11Copyright (c) 2022-2025 WPC Systems Ltd. All rights reserved.
12'''
13
14## WPC
15from wpcsys import pywpc
16
17## Python
18import asyncio
19import sys
20sys.path.insert(0, 'src/')
21
22
23async def main():
24 ## Get Python driver version
25 print(f'{pywpc.PKG_FULL_NAME} - Version {pywpc.__version__}')
26
27 ## Create device handle
28 dev = pywpc.EMotion()
29
30 ## Connect to device
31 try:
32 dev.connect("192.168.1.110") ## Depend on your device
33 except Exception as err:
34 pywpc.printGenericError(err)
35 ## Release device handle
36 dev.close()
37 return
38
39 try:
40 ## Parameters setting
41 port = 0 ## Depend on your device
42 axis = 0
43 two_pulse_mode = 1
44 rel_posi_mode = 1
45 stop_decel = 0
46
47 ## Axis and encoder parameters
48 axis_dir_cw = 0
49 encoder_dir_cw = 0
50
51 ## Polarity and enable parameters
52 active_low = 0
53 active_high = 1
54 forward_enable_true = 1
55 reverse_enable_true = 1
56 home_enable_false = 0
57
58 ## Find home parameters
59 find_home = 0
60 dir_reverse = 1
61
62 ## Get firmware model & version
63 driver_info = await dev.Sys_getDriverInfo_async()
64 print(f"Model name: {driver_info[0]}, Firmware version: {driver_info[-1]} ")
65
66 ## Motion open
67 err = await dev.Motion_open_async(port)
68 print(f"open_async in port {port}, status: {err}")
69
70 '''
71 ## Motion open configuration file
72 err = await dev.Motion_openCfgFile_async('C:/Users/user/Desktop/3AxisStage_2P.ini')
73 print(f"openCfgFile_async, status: {err}")
74
75 ## Motion load configuration file
76 err = await dev.Motion_loadCfgFile_async()
77 print(f"loadCfgFile_async, status: {err}")
78 '''
79
80 ## Motion configure
81 err = await dev.Motion_cfgAxis_async(port, axis, two_pulse_mode, axis_dir_cw, encoder_dir_cw, active_low)
82 print(f"cfgAxis_async in axis{axis}, status: {err}")
83
84 err = await dev.Motion_cfgLimit_async(port, axis, forward_enable_true, reverse_enable_true, active_low)
85 print(f"cfgLimit_async in axis{axis}, status: {err}")
86
87 err = await dev.Motion_cfgFindRef_async(port, axis, find_home, dir_reverse, search_velo=10000, search_accle=100000, approach_velo_percent=20, en_reset_posi=0, offset_posi=1500)
88 print(f"cfgFindRef_async in axis{axis}, status: {err}")
89
90 err = await dev.Motion_cfgHome_async(port, axis, home_enable_false, active_low)
91 print(f"cfgHome_async in axis{axis}, status: {err}")
92
93 ## Servo on
94 err = await dev.Motion_enableServoOn_async(port, axis)
95 print(f"enableServoOn_async in axis{axis}, status: {err}")
96
97 err = await dev.Motion_rstEncoderPosi_async(port, axis, encoder_posi=0)
98 print(f"rstEncoderPosi_async in axis{axis}, status: {err}")
99
100 ## Motion find reference
101 err = await dev.Motion_findRef_async(port, axis)
102 print(f"findRef_async in axis{axis}, status: {err}")
103
104 home_status = 0
105 while home_status == 0:
106 ## Get forward and reverse limit status
107 hit_status = await dev.Motion_getLimitStatus_async(port, axis)
108 forward_hit = hit_status[0]
109 reverse_hit = hit_status[1]
110 if forward_hit == 1:
111 print("Forward hit")
112 if reverse_hit == 1:
113 print("Reverse hit")
114
115 ## Get home status
116 home_status = await dev.Motion_getHomeStatus_async(port, axis)
117 if home_status == 1:
118 print("Home hit")
119
120 ## Check finding and found status
121 driving_status = await dev.Motion_checkRef_async(port, axis)
122 print(f"driving_status: {driving_status}")
123
124 ## Motion stop
125 err = await dev.Motion_stop_async(port, axis, stop_decel)
126 print(f"stop_async in axis{axis}, status: {err}")
127
128 ## Servo off
129 err = await dev.Motion_enableServoOff_async(port, axis)
130 print(f"enableServoOff_async in axis{axis}, status: {err}")
131
132 ## Motion close
133 err = await dev.Motion_close_async(port)
134 print(f"close_async in port {port}, status: {err}")
135 except Exception as err:
136 pywpc.printGenericError(err)
137
138 finally:
139 ## Disconnect device
140 dev.disconnect()
141
142 ## Release device handle
143 dev.close()
144
145
146def main_for_spyder(*args):
147 if asyncio.get_event_loop().is_running():
148 return asyncio.create_task(main(*args)).result()
149 else:
150 return asyncio.run(main(*args))
151
152
153if __name__ == '__main__':
154 asyncio.run(main()) ## Use terminal
155 # await main() ## Use Jupyter or IPython(>=7.0)
156 # main_for_spyder() ## Use Spyder