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()