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()