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) 2022-2025 WPC Systems Ltd. All rights reserved.
12'''
13
14## WPC
15from wpcsys import pywpc
16
17
18def main():
19 ## Get Python driver version
20 print(f'{pywpc.PKG_FULL_NAME} - Version {pywpc.__version__}')
21
22 ## Create device handle
23 dev = pywpc.EDriveST()
24
25 ## Connect to device
26 try:
27 dev.connect("192.168.1.110") ## Depend on your device
28 except Exception as err:
29 pywpc.printGenericError(err)
30 ## Release device handle
31 dev.close()
32 return
33
34 try:
35 ## Parameters setting
36 port = 0 ## Depend on your device
37 searching_speed = 50000
38 approaching_speed = 10000
39 acceleration = 10000
40 search_direction = 1 ## 1: pointing to forward, -1: pointing to reverse.
41 approach_direction = 1 ## 1: pointing to forward, -1: pointing to reverse.
42 offset = 0
43 reset_position = False
44 en_forward = 1
45 en_reverse = 1
46 active_high = 1
47 timeout = 3 ## [sec]
48
49 ## Get firmware model & version
50 driver_info = dev.Sys_getDriverInfo(timeout)
51 print(f"Model name: {driver_info[0]}, Firmware version: {driver_info[-1]} ")
52
53 ## Motion open
54 err = dev.Motion_open(port, timeout)
55 print(f"Motion_open, status: {err}")
56
57 ## Motion configure
58 err = dev.Motion_cfgLimit(port, en_forward, en_reverse, active_high, timeout)
59 print(f"Motion_cfgLimit, status: {err}")
60
61 ## Motion reset
62 err = dev.Motion_rstEncoderPosi(port, timeout)
63 print(f"Motion_resetEncoderPosi, status: {err}")
64
65 ## Motion Servo on
66 err = dev.Motion_enableServoOn(port, timeout)
67 print(f"Motion_enableServoOn, status: {err}")
68
69 ## Motion find home
70 err = dev.Motion_startFindHome(port, searching_speed, approaching_speed, acceleration, search_direction, approach_direction, offset, reset_position, timeout)
71 print(f"Motion_startFindHome, status: {err}")
72
73 status = 1
74 while status != 0:
75 status = dev.Motion_getProcessState(port, timeout)
76 if status == 0:
77 print(f"Motion_getProcessState: {status}")
78
79 ## Motion get limit status
80 state_list = dev.Motion_getLimitStatus(port, timeout)
81 print(f"Forward limit status: {state_list[0]}")
82 print(f"Reverse limit status: {state_list[1]}")
83 print(f"Home status: {state_list[2]}")
84
85 except Exception as err:
86 pywpc.printGenericError(err)
87 except KeyboardInterrupt:
88 print("Press keyboard")
89 finally:
90 ## Motion stop
91 err = dev.Motion_stopProcess(port, timeout)
92 print(f"Motion_stopProcess, status: {err}")
93
94 ## Motion Servo off
95 err = dev.Motion_enableServoOff(port, timeout)
96 print(f"Motion_enableServoOff, status: {err}")
97
98 ## Motion close
99 err = dev.Motion_close(port, timeout)
100 print(f"Motion_close, status: {err}")
101
102 ## Disconnect device
103 dev.disconnect()
104
105 ## Release device handle
106 dev.close()
107
108
109if __name__ == '__main__':
110 main()