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) 2022-2024 WPC Systems Ltd. All rights reserved.
 12'''
 13
 14## Python
 15import asyncio
 16
 17## WPC
 18
 19from wpcsys import pywpc
 20
 21async def main():
 22    ## Get Python driver version
 23    print(f'{pywpc.PKG_FULL_NAME} - Version {pywpc.__version__}')
 24
 25    ## Create device handle
 26    dev = pywpc.EDriveST()
 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        mode = 1 ## 1: forward, -1: reverse.
 41        active_high = 1
 42        en_forward = 1
 43        en_reverse = 1
 44        searching_speed = 50000
 45        approaching_speed = 10000
 46        acceleration = 10000
 47        offset = 0
 48        reset_position = False
 49
 50        ## Get firmware model & version
 51        driver_info = await dev.Sys_getDriverInfo_async()
 52        print("Model name: " + driver_info[0])
 53        print("Firmware version: " + driver_info[-1])
 54
 55        ## Motion open
 56        err = await dev.Motion_open_async(port)
 57        print(f"Motion_open, status: {err}")
 58
 59        ## Motion config
 60        err = await dev.Motion_cfgLimit_async(port, en_forward, en_reverse, active_high)
 61        print(f"Motion_cfgLimit, status: {err}")
 62
 63        ## Motion reset
 64        err = await dev.Motion_rstEncoderPosi_async(port)
 65        print(f"Motion_resetEncoder, status: {err}")
 66
 67        ## Motion Servo on
 68        err = await dev.Motion_enableServoOn_async(port)
 69        print(f"Motion_enableServoOn, status: {err}")
 70
 71        ## Motion find reference
 72        err = await dev.Motion_startFindLimit_async(port, mode, searching_speed, approaching_speed, acceleration, offset, reset_position)
 73        print(f"Motion_startFindLimit, status: {err}")
 74
 75        status = 1
 76        while status != 0 :
 77            status = await dev.Motion_getProcessState_async(port)
 78            if(status == 0):
 79                print(f"Motion_getProcessState: {status}")
 80
 81        ## Motion get limit status
 82        state_list = await dev.Motion_getLimitStatus_async(port)
 83        print(f"Forward limit status: {state_list[0]}")
 84        print(f"Reverse limit status: {state_list[1]}")
 85        print(f"Home status: {state_list[2]}")
 86
 87    except Exception as err:
 88        pywpc.printGenericError(err)
 89    except KeyboardInterrupt:
 90        print("Press keyboard")
 91    finally:
 92        ## Motion stop
 93        err = await dev.Motion_stopProcess_async(port)
 94        print(f"Motion_stopProcess, status: {err}")
 95
 96        ## Motion Servo off
 97        err = await dev.Motion_enableServoOff_async(port)
 98        print(f"Motion_enableServoOff, status: {err}")
 99
100        ## Motion close
101        err = await dev.Motion_close_async(port)
102        print(f"Motion_close, status: {err}")
103
104    ## Disconnect device
105    dev.disconnect()
106
107    ## Release device handle
108    dev.close()
109
110def main_for_spyder(*args):
111    if asyncio.get_event_loop().is_running():
112        return asyncio.create_task(main(*args)).result()
113    else:
114        return asyncio.run(main(*args))
115
116if __name__ == '__main__':
117    asyncio.run(main()) ## Use terminal
118    # await main() ## Use Jupyter or IPython(>=7.0)
119    # main_for_spyder() ## Use Spyder