Motion servo on

 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