dryve-d1

Async Python driver for igus dryve D1 stepper/servo motor controllers over Modbus/TCP. Implements the CiA 402 (CANopen Drive Profile) state machine in pure Python — no pymodbus dependency.

Installation

pip install dryve-d1

Quick Start

import asyncio
from dryve_d1 import DryveD1
from dryve_d1.config.defaults import default_driver_config

async def main():
    cfg = default_driver_config(host="192.168.1.100", unit_id=1)
    drive = DryveD1(config=cfg)
    await drive.connect()
    try:
        await drive.fault_reset()
        await drive.enable_operation()
        await drive.home()
        await drive.move_to_position(target_position=10000)
    finally:
        await drive.close()

asyncio.run(main())

Features

• CiA 402 state machine — full lifecycle: enable, disable, quick stop, fault reset
• Profile position — move to absolute/relative position with velocity and acceleration
• Profile velocity — continuous velocity control
• Jog (hold-to-move) — with configurable watchdog TTL and keepalive
• Homing — configurable homing methods with timeout
• Telemetry poller — periodic status polling with DriveSnapshot caching
• Pydantic config — DriveConfig, ConnectionConfig, MotionLimits, RetryPolicy
• Pure async — built on asyncio, no blocking calls
• PEP 561 typed — full type annotations, py.typed marker included
• Zero heavy deps — only pydantic required (no pymodbus)

Bundled Simulator

Develop and test without hardware using the included Modbus TCP simulator:

python simulator.py          # starts on port 501

Then connect with host="127.0.0.1", port=501, unit_id=0.

Architecture

┌──────────────────────────────────────────┐
│  dryve_d1.api.drive.DryveD1             │  ← async facade
├──────────────────────────────────────────┤
│  dryve_d1.cia402      │  dryve_d1.motion │  ← state machine + motion profiles
├──────────────────────────────────────────┤
│  dryve_d1.protocol    │  dryve_d1.od     │  ← Modbus/CANopen codec + OD registers
├──────────────────────────────────────────┤
│  dryve_d1.transport                      │  ← TCP client, session, retry
└──────────────────────────────────────────┘

Development

git clone https://github.com/AliaksandrNazaruk/dryve-d1.git
cd dryve-d1
python -m venv .venv && source .venv/bin/activate
pip install -e ".[dev]"

# Run tests
pytest tests/unit -m "not simulator"

# Lint & type check
ruff check src/ tests/
mypy src/dryve_d1

License

MIT © 2026 Aliaksandr Nazaruk