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) 2022-2025 WPC Systems Ltd. All rights reserved.
 12'''
 13
 14## WPC
 15from wpcsys import pywpc
 16
 17
 18def main():
 19    ## Get Python driver version
 20    print(f'{pywpc.PKG_FULL_NAME} - Version {pywpc.__version__}')
 21
 22    ## Create device handle
 23    dev = pywpc.EDriveST()
 24
 25    ## Connect to device
 26    try:
 27        dev.connect("192.168.1.110")  ## Depend on your device
 28    except Exception as err:
 29        pywpc.printGenericError(err)
 30        ## Release device handle
 31        dev.close()
 32        return
 33
 34    try:
 35        ## Parameters setting
 36        port = 0  ## Depend on your device
 37        mode = 1  ## 1: forward, -1: reverse.
 38        en_forward = 1
 39        en_reverse = 1
 40        active_high = 1
 41        searching_speed = 50000
 42        approaching_speed = 10000
 43        acceleration = 10000
 44        offset = 0
 45        reset_position = False
 46        timeout = 3  ## [sec]
 47
 48        ## Get firmware model & version
 49        driver_info = dev.Sys_getDriverInfo(timeout)
 50        print(f"Model name: {driver_info[0]}, Firmware version: {driver_info[-1]} ")
 51
 52        ## Motion open
 53        err = dev.Motion_open(port, timeout)
 54        print(f"Motion_open, status: {err}")
 55
 56        ## Motion config
 57        err = dev.Motion_cfgLimit(port, en_forward, en_reverse, active_high, timeout)
 58        print(f"Motion_cfgLimit, status: {err}")
 59
 60        ## Motion reset
 61        err = dev.Motion_rstEncoderPosi(port, timeout)
 62        print(f"Motion_resetEncoderPosi, status: {err}")
 63
 64        ## Motion Servo on
 65        err = dev.Motion_enableServoOn(port, timeout)
 66        print(f"Motion_enableServoOn, status: {err}")
 67
 68        ## Motion find limit
 69        err = dev.Motion_startFindLimit(port, mode, searching_speed, approaching_speed, acceleration, offset, reset_position, timeout)
 70        print(f"Motion_startFindLimit, status: {err}")
 71
 72        status = 1
 73        while status != 0:
 74            status = dev.Motion_getProcessState(port, timeout)
 75            if status == 0:
 76                print(f"Motion_getProcessState: {status}")
 77
 78        ## Motion get limit status
 79        state_list = dev.Motion_getLimitStatus(port, timeout)
 80        print(f"Forward limit status: {state_list[0]}")
 81        print(f"Reverse limit status: {state_list[1]}")
 82        print(f"Home status: {state_list[2]}")
 83
 84    except Exception as err:
 85        pywpc.printGenericError(err)
 86    except KeyboardInterrupt:
 87        print("Press keyboard")
 88    finally:
 89        ## Motion stop
 90        err = dev.Motion_stopProcess(port, timeout)
 91        print(f"Motion_stopProcess, status: {err}")
 92
 93        ## Motion Servo off
 94        err = dev.Motion_enableServoOff(port, timeout)
 95        print(f"Motion_enableServoOff, status: {err}")
 96
 97        ## Motion close
 98        err = dev.Motion_close(port, timeout)
 99        print(f"Motion_close, status: {err}")
100
101        ## Disconnect device
102        dev.disconnect()
103
104        ## Release device handle
105        dev.close()
106
107
108if __name__ == '__main__':
109    main()