Drive find limit

  1'''
  2Drive - Drive_find_limit.py with asynchronous 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## Python
 18import asyncio
 19import sys
 20sys.path.insert(0, 'src/')
 21
 22
 23async def main():
 24    ## Get Python driver version
 25    print(f'{pywpc.PKG_FULL_NAME} - Version {pywpc.__version__}')
 26
 27    ## Create device handle
 28    dev = pywpc.EDriveST()
 29
 30    ## Connect to device
 31    try:
 32        dev.connect("192.168.1.110")  ## Depend on your device
 33    except Exception as err:
 34        pywpc.printGenericError(err)
 35        ## Release device handle
 36        dev.close()
 37        return
 38
 39    try:
 40        ## Parameters setting
 41        port = 0  ## Depend on your device
 42        mode = 1  ## 1: forward, -1: reverse.
 43        active_high = 1
 44        en_forward = 1
 45        en_reverse = 1
 46        searching_speed = 50000
 47        approaching_speed = 10000
 48        acceleration = 10000
 49        offset = 0
 50        reset_position = False
 51
 52        ## Get firmware model & version
 53        driver_info = await dev.Sys_getDriverInfo_async()
 54        print(f"Model name: {driver_info[0]}, Firmware version: {driver_info[-1]} ")
 55
 56        ## Motion open
 57        err = await dev.Motion_open_async(port)
 58        print(f"Motion_open, status: {err}")
 59
 60        ## Motion config
 61        err = await dev.Motion_cfgLimit_async(port, en_forward, en_reverse, active_high)
 62        print(f"Motion_cfgLimit, status: {err}")
 63
 64        ## Motion reset
 65        err = await dev.Motion_rstEncoderPosi_async(port)
 66        print(f"Motion_resetEncoder, status: {err}")
 67
 68        ## Motion Servo on
 69        err = await dev.Motion_enableServoOn_async(port)
 70        print(f"Motion_enableServoOn, status: {err}")
 71
 72        ## Motion find reference
 73        err = await dev.Motion_startFindLimit_async(port, mode, searching_speed, approaching_speed, acceleration, offset, reset_position)
 74        print(f"Motion_startFindLimit, status: {err}")
 75
 76        status = 1
 77        while status != 0:
 78            status = await dev.Motion_getProcessState_async(port)
 79            if status == 0:
 80                print(f"Motion_getProcessState: {status}")
 81
 82        ## Motion get limit status
 83        state_list = await dev.Motion_getLimitStatus_async(port)
 84        print(f"Forward limit status: {state_list[0]}")
 85        print(f"Reverse limit status: {state_list[1]}")
 86        print(f"Home status: {state_list[2]}")
 87
 88    except Exception as err:
 89        pywpc.printGenericError(err)
 90    except KeyboardInterrupt:
 91        print("Press keyboard")
 92    finally:
 93        ## Motion stop
 94        err = await dev.Motion_stopProcess_async(port)
 95        print(f"Motion_stopProcess, status: {err}")
 96
 97        ## Motion Servo off
 98        err = await dev.Motion_enableServoOff_async(port)
 99        print(f"Motion_enableServoOff, status: {err}")
100
101        ## Motion close
102        err = await dev.Motion_close_async(port)
103        print(f"Motion_close, status: {err}")
104
105        ## Disconnect device
106        dev.disconnect()
107
108        ## Release device handle
109        dev.close()
110
111
112def main_for_spyder(*args):
113    if asyncio.get_event_loop().is_running():
114        return asyncio.create_task(main(*args)).result()
115    else:
116        return asyncio.run(main(*args))
117
118
119if __name__ == '__main__':
120    asyncio.run(main())  ## Use terminal
121    # await main()  ## Use Jupyter or IPython(>=7.0)
122    # main_for_spyder()  ## Use Spyder