1'''
2Motion - Motion_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.EMotion()
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 axis = 0
41 two_pulse_mode = 1
42 rel_posi_mode = 1
43 stop_decel = 0
44 timeout = 3 ## second
45
46 ## Axis and encoder parameters
47 axis_dir_cw = 0
48 encoder_dir_cw = 0
49
50 ## Polarity and enable parameters
51 active_low = 0
52 active_high = 1
53 forward_enable_true = 1
54 reverse_enable_true = 1
55 home_enable_false = 0
56
57 ## Find home parameters
58 find_home = 0
59 dir_reverse = 1
60
61 ## Get firmware model & version
62 driver_info = dev.Sys_getDriverInfo(timeout)
63 print("Model name: " + driver_info[0])
64 print("Firmware version: " + driver_info[-1])
65
66 ## Motion open
67 err = dev.Motion_open(port, timeout)
68 print(f"Motion_open in port {port}, status: {err}")
69
70 '''
71 ## Motion open configuration file
72 err = dev.Motion_openCfgFile('C:/Users/user/Desktop/3AxisStage_2P.ini')
73 print(f"openCfgFile, status: {err}")
74
75 ## Motion load configuration file
76 err = dev.Motion_loadCfgFile()
77 print(f"loadCfgFile, status: {err}")
78 '''
79
80 ## Motion configure
81 err = dev.Motion_cfgAxis(port, axis, two_pulse_mode, axis_dir_cw, encoder_dir_cw, active_low, timeout)
82 print(f"Motion_cfgAxis in axis{axis}, status: {err}")
83
84 err = dev.Motion_cfgLimit(port, axis, forward_enable_true, reverse_enable_true, active_low, timeout)
85 print(f"Motion_cfgLimit in axis{axis}, status: {err}")
86
87 err = dev.Motion_cfgFindRef(port, axis, find_home, dir_reverse, search_velo=10000, search_accle=100000, approach_velo_percent=20, en_reset_posi=0, offset_posi=1500, timeout=timeout)
88 print(f"Motion_cfgFindRef in axis{axis}, status: {err}")
89
90 err = dev.Motion_cfgHome(port, axis, home_enable_false, active_low, timeout)
91 print(f"Motion_cfgHome in axis{axis}, status: {err}")
92
93 ## Servo on
94 err = dev.Motion_enableServoOn(port, axis, timeout)
95 print(f"Motion_enableServoOn in axis{axis}, status: {err}")
96
97 err = dev.Motion_rstEncoderPosi(port, axis, encoder_posi=0, timeout=timeout)
98 print(f"Motion_rstEncoderPosi in axis{axis}, status: {err}")
99
100 ## Motion find reference
101 err = dev.Motion_findRef(port, axis, timeout)
102 print(f"Motion_findRef in axis{axis}, status: {err}")
103
104 home_status = 0
105 while home_status == 0:
106 ## Read forward and reverse limit status
107 hit_status = dev.Motion_getLimitStatus(port, axis, timeout)
108 forward_hit = hit_status[0]
109 reverse_hit = hit_status[1]
110 if forward_hit == 1:
111 print("Forward hit")
112 if reverse_hit == 1:
113 print("Reverse hit")
114
115 ## Read home status
116 home_status = dev.Motion_getHomeStatus(port, axis, timeout)
117 if home_status == 1:
118 print("Home hit")
119
120 ## Check finding and found status
121 driving_status = dev.Motion_checkRef(port, axis, timeout)
122 print(f"driving_status: {driving_status}")
123
124 ## Motion stop
125 err = dev.Motion_stop(port, axis, stop_decel, timeout)
126 print(f"Motion_stop in axis{axis}, status: {err}")
127
128 ## Servo off
129 err = dev.Motion_enableServoOff(port, axis, timeout)
130 print(f"Motion_enableServoOff in axis{axis}, status: {err}")
131
132 ## Motion close
133 err = dev.Motion_close(port, timeout)
134 print(f"Motion_close in port {port}, status: {err}")
135 except Exception as err:
136 pywpc.printGenericError(err)
137
138 ## Disconnect device
139 dev.disconnect()
140
141 ## Release device handle
142 dev.close()
143
144 return
145
146if __name__ == '__main__':
147 main()