Is there a way to use comacrserver with python

To my recollection there is a 3rd party library that allows use of python but it is not well maintained, nor do I advise it's use. 

Instead, something simpler for your case. You can open a TCP socket and open up port 5002 on the ACR7000 controller. Sending ASCII commands down directly to the controller, bypassing ComACRServer.

Controllers - Integrated Motion Controllers - ACR7000 from Parker Hannifin (parkermotion.com)

Edit: You will need to parse ASCII on the way out of the controller.

To my recollection there is a 3rd party library that allows use of python but it is not well maintained, nor do I advise it's use. 

Instead, something simpler for your case. You can open a TCP socket and open up port 5002 on the ACR7000 controller. Sending ASCII commands down directly to the controller, bypassing ComACRServer.

Controllers - Integrated Motion Controllers - ACR7000 from Parker Hannifin (parkermotion.com)

Edit: You will need to parse ASCII on the way out of the controller.