Drive scan move

 1'''
 2Drive - Drive_scan_move.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        active_high = 1
41        en_forward = 1
42        en_reverse = 1
43        position_0 = 30000
44        position_1 = -30000
45        speed = 30000
46        acceleration = 10000
47        timeout = 3 ## second
48
49        ## Get firmware model & version
50        driver_info = dev.Sys_getDriverInfo(timeout)
51        print("Model name: " + driver_info[0])
52        print("Firmware version: " + driver_info[-1])
53
54        ## Motion open
55        err = dev.Motion_open(port, timeout)
56        print(f"Motion_open, status: {err}")
57
58        ## Motion configure
59        err = dev.Motion_cfgLimit(port, en_forward, en_reverse, active_high, timeout)
60        print(f"Motion_cfgLimit, status: {err}")
61
62        ## Motion Servo on
63        err = dev.Motion_enableServoOn(port, timeout)
64        print(f"Motion_enableServoOn, status: {err}")
65
66        ## Motion start scanning
67        err = dev.Motion_startScanMove(port, position_0, position_1, speed, acceleration, timeout)
68        print(f"Motion_startScanMove, status: {err}")
69
70        ## Wait for seconds for moving
71        time.sleep(10) ## delay [s]
72    except Exception as err:
73        pywpc.printGenericError(err)
74    except KeyboardInterrupt:
75        print("Press keyboard")
76    finally:
77        ## Motion stop
78        err = dev.Motion_stopProcess(port, timeout)
79        print(f"Motion_stopProcess, status: {err}")
80
81        ## Motion Servo off
82        err = dev.Motion_enableServoOff(port, timeout)
83        print(f"Motion_enableServoOff, status: {err}")
84
85        ## Motion close
86        err = dev.Motion_close(port, timeout)
87        print(f"Motion_close, status: {err}")
88
89    ## Disconnect device
90    dev.disconnect()
91
92    ## Release device handle
93    dev.close()
94
95if __name__ == '__main__':
96    main()