Motion find index

  1'''
  2Motion - Motion_find_index.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        one_pulse_mode = 0
 39        two_pulse_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
 53        ## Find index parameters
 54        dir_reverse = 1
 55        find_index = 1
 56
 57        ## Get firmware model & version
 58        driver_info = dev.Sys_getDriverInfo(timeout)
 59        print(f"Model name: {driver_info[0]}, Firmware version: {driver_info[-1]} ")
 60
 61        ## Motion open
 62        err = dev.Motion_open(port, timeout)
 63        print(f"Motion_open in port {port}, status: {err}")
 64
 65        '''
 66        ## Motion open configuration file
 67        err = dev.Motion_openCfgFile('C:/Users/user/Desktop/3AxisStage_2P.ini')
 68        print(f"openCfgFile, status: {err}")
 69
 70        ## Motion load configuration file
 71        err = dev.Motion_loadCfgFile()
 72        print(f"loadCfgFile, status: {err}")
 73        '''
 74
 75        # Motion configure
 76        err = dev.Motion_cfgAxis(port, axis, one_pulse_mode, axis_dir_cw, encoder_dir_cw, active_high, timeout)
 77        print(f"Motion_cfgAxis in axis{axis}, status: {err}")
 78
 79        err = dev.Motion_cfgLimit(port, axis, forward_enable_true, reverse_enable_true, active_high, timeout)
 80        print(f"Motion_cfgLimit in axis{axis}, status: {err}")
 81
 82        err = dev.Motion_cfgEncoder(port, axis, active_high, timeout)
 83        print(f"Motion_cfgEncoder in axis{axis}, status: {err}")
 84
 85        err = dev.Motion_cfgFindRef(port, axis, find_index, dir_reverse, search_velo=10000, search_accle=100000, approach_velo_percent=20, en_reset_posi=0, offset_posi=1500, timeout=timeout)
 86        print(f"Motion_cfgFindRef in axis{axis}, status: {err}")
 87
 88        ## Servo on
 89        err = dev.Motion_enableServoOn(port, axis, timeout)
 90        print(f"Motion_enableServoOn in axis{axis}, status: {err}")
 91
 92        err = dev.Motion_rstEncoderPosi(port, axis, encoder_posi=0, timeout=timeout)
 93        print(f"Motion_rstEncoderPosi in axis{axis}, status: {err}")
 94
 95        ## Motion find reference
 96        err = dev.Motion_findRef(port, axis, timeout)
 97        print(f"Motion_findRef in axis{axis}, status: {err}")
 98
 99        driving_status = 0
100        while driving_status == 0:
101            ## Check driving_status
102            driving_status = dev.Motion_checkRef(port, axis, timeout)
103            print(f"driving_status: {driving_status}")
104
105        ## Motion stop
106        err = dev.Motion_stop(port, axis, stop_decel, timeout)
107        print(f"Motion_stop in axis{axis}, status: {err}")
108
109        ## Servo off
110        err = dev.Motion_enableServoOff(port, axis, timeout)
111        print(f"Motion_enableServoOff in axis{axis}, status: {err}")
112
113        ## Motion close
114        err = dev.Motion_close(port, timeout)
115        print(f"Motion_close in port {port}, status: {err}")
116    except Exception as err:
117        pywpc.printGenericError(err)
118
119    finally:
120        ## Disconnect device
121        dev.disconnect()
122
123        ## Release device handle
124        dev.close()
125
126
127if __name__ == '__main__':
128    main()