Drive find limit

  1'''
  2Drive - Drive_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.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        en_forward = 1
 42        en_reverse = 1
 43        active_high = 1
 44        searching_speed = 50000
 45        approaching_speed = 10000
 46        acceleration = 10000
 47        offset = 0
 48        reset_position = False
 49        timeout = 3 ## second
 50
 51        ## Get firmware model & version
 52        driver_info = dev.Sys_getDriverInfo(timeout)
 53        print("Model name: " + driver_info[0])
 54        print("Firmware version: " + driver_info[-1])
 55
 56        ## Motion open
 57        err = dev.Motion_open(port, timeout)
 58        print(f"Motion_open, status: {err}")
 59
 60        ## Motion config
 61        err = dev.Motion_cfgLimit(port, en_forward, en_reverse, active_high, timeout)
 62        print(f"Motion_cfgLimit, status: {err}")
 63
 64        ## Motion reset
 65        err = dev.Motion_rstEncoderPosi(port, timeout)
 66        print(f"Motion_resetEncoderPosi, status: {err}")
 67
 68        ## Motion Servo on
 69        err = dev.Motion_enableServoOn(port, timeout)
 70        print(f"Motion_enableServoOn, status: {err}")
 71
 72        ## Motion find limit
 73        err = dev.Motion_startFindLimit(port, mode, searching_speed, approaching_speed, acceleration, offset, reset_position, timeout)
 74        print(f"Motion_startFindLimit, status: {err}")
 75
 76        status = 1
 77        while status != 0 :
 78            status = dev.Motion_getProcessState(port, timeout)
 79            if(status == 0):
 80                print(f"Motion_getProcessState: {status}")
 81
 82        ## Motion get limit status
 83        state_list = dev.Motion_getLimitStatus(port, timeout)
 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 = dev.Motion_stopProcess(port, timeout)
 95        print(f"Motion_stopProcess, status: {err}")
 96
 97        ## Motion Servo off
 98        err = dev.Motion_enableServoOff(port, timeout)
 99        print(f"Motion_enableServoOff, status: {err}")
100
101        ## Motion close
102        err = dev.Motion_close(port, timeout)
103        print(f"Motion_close, status: {err}")
104
105    ## Disconnect device
106    dev.disconnect()
107
108    ## Release device handle
109    dev.close()
110
111if __name__ == '__main__':
112    main()