1'''
2Motion - Motion_servo_on.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
44 ## Get firmware model & version
45 driver_info = await dev.Sys_getDriverInfo_async()
46 print(f"Model name: {driver_info[0]}, Firmware version: {driver_info[-1]} ")
47
48 ## Motion open
49 err = await dev.Motion_open_async(port)
50 print(f"open_async in port {port}, status: {err}")
51
52 ## Servo on
53 err = await dev.Motion_enableServoOn_async(port, axis)
54 print(f"enableServoOn_async in axis{axis}, status: {err}")
55
56 ## Wait
57 await asyncio.sleep(5) ## delay [sec]
58
59 ## Servo off
60 err = await dev.Motion_enableServoOff_async(port, axis)
61 print(f"enableServoOff_async in axis{axis}, status: {err}")
62
63 ## Motion close
64 err = await dev.Motion_close_async(port)
65 print(f"close_async in port {port}, status: {err}")
66 except Exception as err:
67 pywpc.printGenericError(err)
68
69 finally:
70 ## Disconnect device
71 dev.disconnect()
72
73 ## Release device handle
74 dev.close()
75
76
77def main_for_spyder(*args):
78 if asyncio.get_event_loop().is_running():
79 return asyncio.create_task(main(*args)).result()
80 else:
81 return asyncio.run(main(*args))
82
83
84if __name__ == '__main__':
85 asyncio.run(main()) ## Use terminal
86 # await main() ## Use Jupyter or IPython(>=7.0)
87 # main_for_spyder() ## Use Spyder