1'''
2Motion - Motion_find_limit.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 stop_decel = 0
43 timeout = 3 ## second
44
45 ## Axis and encoder parameters
46 axis_dir_cw = 0
47 encoder_dir_cw = 0
48
49 ## Polarity and enable parameters
50 active_low = 0
51 active_high = 1
52 forward_enable_true = 1
53 reverse_enable_true = 1
54 home_enable_false = 0
55
56 ## Find limit parameters
57 find_limit = 2
58 dir_reverse = 1
59
60 ## Get firmware model & version
61 driver_info = dev.Sys_getDriverInfo(timeout)
62 print("Model name: " + driver_info[0])
63 print("Firmware version: " + driver_info[-1])
64
65 ## Motion open
66 err = dev.Motion_open(port, timeout)
67 print(f"Motion_open in port {port}, status: {err}")
68
69 '''
70 ## Motion open configuration file
71 err = dev.Motion_openCfgFile('C:/Users/user/Desktop/3AxisStage_2P.ini')
72 print(f"openCfgFile, status: {err}")
73
74 ## Motion load configuration file
75 err = dev.Motion_loadCfgFile()
76 print(f"loadCfgFile, status: {err}")
77 '''
78
79 ## Motion configure
80 err = dev.Motion_cfgAxis(port, axis, two_pulse_mode, axis_dir_cw, encoder_dir_cw, active_low, timeout)
81 print(f"Motion_cfgAxis in axis{axis}, status: {err}")
82
83 err = dev.Motion_cfgLimit(port, axis, forward_enable_true, reverse_enable_true, active_low, timeout)
84 print(f"Motion_cfgLimit in axis{axis}, status: {err}")
85
86 err = dev.Motion_cfgFindRef(port, axis, find_limit, dir_reverse, search_velo=10000, search_accle=100000, approach_velo_percent=20, en_reset_posi=0, offset_posi=1500, timeout=timeout)
87 print(f"Motion_cfgFindRef in axis{axis}, status: {err}")
88
89 err = dev.Motion_cfgHome(port, axis, home_enable_false, active_low, timeout)
90 print(f"Motion_cfgHome in axis{axis}, status: {err}")
91
92 ## Servo on
93 err = dev.Motion_enableServoOn(port, axis, timeout)
94 print(f"Motion_enableServoOn in axis{axis}, status: {err}")
95
96 err = dev.Motion_rstEncoderPosi(port, axis, encoder_posi=0, timeout=timeout)
97 print(f"Motion_rstEncoderPosi in axis{axis}, status: {err}")
98
99 ## Motion find reference
100 err = dev.Motion_findRef(port, axis, timeout)
101 print(f"Motion_findRef in axis{axis}, status: {err}")
102
103 driving_status = 0
104 while driving_status == 0:
105 ## Read forward and reverse limit status
106 hit_status = dev.Motion_getLimitStatus(port, axis, timeout)
107 forward_hit = hit_status[0]
108 reverse_hit = hit_status[1]
109
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()