Motion find home

  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) 2022-2025 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.EMotion()
 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        axis = 0
 38        two_pulse_mode = 1
 39        rel_posi_mode = 1
 40        stop_decel = 0
 41        timeout = 3  ## [sec]
 42
 43        ## Axis and encoder parameters
 44        axis_dir_cw = 0
 45        encoder_dir_cw = 0
 46
 47        ## Polarity and enable parameters
 48        active_low = 0
 49        active_high = 1
 50        forward_enable_true = 1
 51        reverse_enable_true = 1
 52        home_enable_false = 0
 53
 54        ## Find home parameters
 55        find_home = 0
 56        dir_reverse = 1
 57
 58        ## Get firmware model & version
 59        driver_info = dev.Sys_getDriverInfo(timeout)
 60        print(f"Model name: {driver_info[0]}, Firmware version: {driver_info[-1]} ")
 61
 62        ## Motion open
 63        err = dev.Motion_open(port, timeout)
 64        print(f"Motion_open in port {port}, status: {err}")
 65
 66        '''
 67        ## Motion open configuration file
 68        err = dev.Motion_openCfgFile('C:/Users/user/Desktop/3AxisStage_2P.ini')
 69        print(f"openCfgFile, status: {err}")
 70
 71        ## Motion load configuration file
 72        err = dev.Motion_loadCfgFile()
 73        print(f"loadCfgFile, status: {err}")
 74        '''
 75
 76        ## Motion configure
 77        err = dev.Motion_cfgAxis(port, axis, two_pulse_mode, axis_dir_cw, encoder_dir_cw, active_low, timeout)
 78        print(f"Motion_cfgAxis in axis{axis}, status: {err}")
 79
 80        err = dev.Motion_cfgLimit(port, axis, forward_enable_true, reverse_enable_true, active_low, timeout)
 81        print(f"Motion_cfgLimit in axis{axis}, status: {err}")
 82
 83        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)
 84        print(f"Motion_cfgFindRef in axis{axis}, status: {err}")
 85
 86        err = dev.Motion_cfgHome(port, axis, home_enable_false, active_low, timeout)
 87        print(f"Motion_cfgHome in axis{axis}, status: {err}")
 88
 89        ## Servo on
 90        err = dev.Motion_enableServoOn(port, axis, timeout)
 91        print(f"Motion_enableServoOn in axis{axis}, status: {err}")
 92
 93        err = dev.Motion_rstEncoderPosi(port, axis, encoder_posi=0, timeout=timeout)
 94        print(f"Motion_rstEncoderPosi in axis{axis}, status: {err}")
 95
 96        ## Motion find reference
 97        err = dev.Motion_findRef(port, axis, timeout)
 98        print(f"Motion_findRef in axis{axis}, status: {err}")
 99
100        home_status = 0
101        while home_status == 0:
102            ## Read forward and reverse limit status
103            hit_status = dev.Motion_getLimitStatus(port, axis, timeout)
104            forward_hit = hit_status[0]
105            reverse_hit = hit_status[1]
106            if forward_hit == 1:
107                print("Forward hit")
108            if reverse_hit == 1:
109                print("Reverse hit")
110
111            ## Read home status
112            home_status = dev.Motion_getHomeStatus(port, axis, timeout)
113            if home_status == 1:
114                print("Home hit")
115
116            ## Check finding and found status
117            driving_status = dev.Motion_checkRef(port, axis, timeout)
118            print(f"driving_status: {driving_status}")
119
120        ## Motion stop
121        err = dev.Motion_stop(port, axis, stop_decel, timeout)
122        print(f"Motion_stop in axis{axis}, status: {err}")
123
124        ## Servo off
125        err = dev.Motion_enableServoOff(port, axis, timeout)
126        print(f"Motion_enableServoOff in axis{axis}, status: {err}")
127
128        ## Motion close
129        err = dev.Motion_close(port, timeout)
130        print(f"Motion_close in port {port}, status: {err}")
131    except Exception as err:
132        pywpc.printGenericError(err)
133
134    finally:
135        ## Disconnect device
136        dev.disconnect()
137
138        ## Release device handle
139        dev.close()
140
141
142if __name__ == '__main__':
143    main()