1'''
2Motion - Motion_servo_on.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 timeout = 3 ## second
42
43 ## Get firmware model & version
44 driver_info = dev.Sys_getDriverInfo(timeout)
45 print("Model name: " + driver_info[0])
46 print("Firmware version: " + driver_info[-1])
47
48 ## Motion open
49 err = dev.Motion_open(port, timeout)
50 print(f"Motion_open in port {port}, status: {err}")
51
52 ## servo on
53 err = dev.Motion_enableServoOn(port, axis, timeout)
54 print(f"Motion_enableServoOn in axis{axis}, status: {err}")
55
56 ## Wait
57 time.sleep(5) ## delay [s]
58
59 ## servo off
60 err = dev.Motion_enableServoOff(port, axis, timeout)
61 print(f"Motion_enableServoOff in axis{axis}, status: {err}")
62
63 ## Motion close
64 err = dev.Motion_close(port, timeout)
65 print(f"Motion_close in port {port}, status: {err}")
66 except Exception as err:
67 pywpc.printGenericError(err)
68
69 ## Disconnect device
70 dev.disconnect()
71
72 ## Release device handle
73 dev.close()
74
75 return
76
77if __name__ == '__main__':
78 main()