flange_serial_open()

Definition

flange_serial_open(baudrate=115200, bytesize=DR_EIGHTBITS, parity=DR_PARITY_NONE, stopbits = DR_STOPBITS_ONE)

Features

A command used for opening the Pseudo Flange Serial communication port.

After calling this function, a minimum delay of 100 milliseconds is required before the flange serial operates normally.

The characteristics of pseudo flange serial communication are different from normal serial communication. Therefore, handshaking communication is recommended. (e.g., modbus RTU) Due to the internal buffer size limit (255bytes) and internal delay, overflow may occur when used in sensors, etc.

(However, it is not supported by the new Flange I/O (M/H Series 2024.03.22 & A/E Series 2024.04.11 or later) and can be set in the Flange I/O tab of the Robot Parameter module.)

Parameters

Parameter Name	Data Type	Default Value	Description
baudrate	int	115200	Baud rate 2400, 4800, 9600, 19200, 38400, 57600, 115200, 1000000 etc
bytesize	int	8	Number of data bits DR_FIVEBITS : 5 DR_SIXBITS : 6 DR_SEVENBITS : 7 DR_EIGHTBITS : 8
parity	str	"N"	Parity checking DR_PARITY_NONE: "N" DR_PARITY_EVEN: "E" DR_PARITY_ODD: "O"
stopbits	int	1	Number of stop bits DR_STOPBITS_ONE =1 DR_STOPBITS_TWO = 2

Return

Value	Description
0	Successful connection
Negative value	Fail to connection

Exception

Exception	Description
DR_Error (DR_ERROR_TYPE)	Parameter data type error occurred
DR_Error (DR_ERROR_VALUE)	Parameter value is invalid
DR_Error (DR_ERROR_RUNTIME)	C extension module error occurred
DR_Error (DR_ERROR_STOP)	Program terminated forcefully

Example

Python

flange_serial_open(baudrate=115200, bytesize=DR_EIGHTBITS,parity=DR_PARITY_NONE, stopbits = DR_STOPBITS_ONE)
wait(0.1)