Drive find home

  1'''
  2Drive - Drive_find_home.py with synchronous 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) 2022-2024 WPC Systems Ltd. All rights reserved.
 12'''
 13
 14## Python
 15import time
 16
 17## WPC
 18
 19from wpcsys import pywpc
 20
 21def main():
 22    ## Get Python driver version
 23    print(f'{pywpc.PKG_FULL_NAME} - Version {pywpc.__version__}')
 24
 25    ## Create device handle
 26    dev = pywpc.EDriveST()
 27
 28    ## Connect to device
 29    try:
 30        dev.connect("192.168.1.110") ## Depend on your device
 31    except Exception as err:
 32        pywpc.printGenericError(err)
 33        ## Release device handle
 34        dev.close()
 35        return
 36
 37    try:
 38        ## Parameters setting
 39        port = 0 ## Depend on your device
 40        searching_speed = 50000
 41        approaching_speed = 10000
 42        acceleration = 10000
 43        search_direction = 1    ## 1: pointing to forward, -1: pointing to reverse.
 44        approach_direction = 1  ## 1: pointing to forward, -1: pointing to reverse.
 45        offset = 0
 46        reset_position = False
 47        en_forward = 1
 48        en_reverse = 1
 49        active_high = 1
 50        timeout = 3 ## second
 51
 52        ## Get firmware model & version
 53        driver_info = dev.Sys_getDriverInfo(timeout)
 54        print("Model name: " + driver_info[0])
 55        print("Firmware version: " + driver_info[-1])
 56
 57        ## Motion open
 58        err = dev.Motion_open(port, timeout)
 59        print(f"Motion_open, status: {err}")
 60
 61        ## Motion configure
 62        err = dev.Motion_cfgLimit(port, en_forward, en_reverse, active_high, timeout)
 63        print(f"Motion_cfgLimit, status: {err}")
 64
 65        ## Motion reset
 66        err = dev.Motion_rstEncoderPosi(port, timeout)
 67        print(f"Motion_resetEncoderPosi, status: {err}")
 68
 69        ## Motion Servo on
 70        err = dev.Motion_enableServoOn(port, timeout)
 71        print(f"Motion_enableServoOn, status: {err}")
 72
 73        ## Motion find home
 74        err = dev.Motion_startFindHome(port, searching_speed, approaching_speed, acceleration, search_direction, approach_direction, offset, reset_position, timeout)
 75        print(f"Motion_startFindHome, status: {err}")
 76
 77        status = 1
 78        while status != 0 :
 79            status = dev.Motion_getProcessState(port, timeout)
 80            if(status == 0):
 81                print(f"Motion_getProcessState: {status}")
 82
 83        ## Motion get limit status
 84        state_list = dev.Motion_getLimitStatus(port, timeout)
 85        print(f"Forward limit status: {state_list[0]}")
 86        print(f"Reverse limit status: {state_list[1]}")
 87        print(f"Home status: {state_list[2]}")
 88
 89    except Exception as err:
 90        pywpc.printGenericError(err)
 91    except KeyboardInterrupt:
 92        print("Press keyboard")
 93    finally:
 94        ## Motion stop
 95        err = dev.Motion_stopProcess(port, timeout)
 96        print(f"Motion_stopProcess, status: {err}")
 97
 98        ## Motion Servo off
 99        err = dev.Motion_enableServoOff(port, timeout)
100        print(f"Motion_enableServoOff, status: {err}")
101
102        ## Motion close
103        err = dev.Motion_close(port, timeout)
104        print(f"Motion_close, status: {err}")
105
106    ## Disconnect device
107    dev.disconnect()
108
109    ## Release device handle
110    dev.close()
111
112if __name__ == '__main__':
113    main()