통합 예제 - Serial(플랜지 I/O)

# Sample 2F-85 Gripper
flange_serial_open(baudrate=115200, bytesize=DR_EIGHTBITS, parity=DR_PARITY_NONE, stopbits = DR_STOPBITS_ONE) 
wait(0.1)
 
# Step1-1:Activation Request(clear Act)
flange_serial_write(modbus_send_make(b"\x09\x10\x03\xE8\x00\x03\x06\x00\x00\x00\x00\x00\x00"))
wait(0.25)
res, data = flange_serial_read() 
 
# Step1-2:Activation Request(set Act)
flange_serial_write(modbus_send_make(b"\x09\x10\x03\xE8\x00\x03\x06\x01\x00\x00\x00\x00\x00"))
wait(0.25)
res, data = flange_serial_read() 
 
# Step 2: Read Gripper status until the activation is completed
flange_serial_write(modbus_send_make(b"\x09\x03\x07\xD0\x00\x01"))
wait(0.25)
res, data = flange_serial_read() 

# Step 3: Move the robot to the pick-up location
wait(1)
 
# Step 4: Close the Gripper at full speed and full force
flange_serial_write(modbus_send_make(b"\x09\x10\x03\xE8\x00\x03\x06\x09\x00\x00\xFF\xFF\xFF"))
wait(0.25)
res, data = flange_serial_read() 

# Step 5: Read Gripper status until the grasp is completed
flange_serial_write(modbus_send_make(b"\x09\x03\x07\xD0\x00\x03"))
wait(0.25)
res, data = flange_serial_read() 
 
# Step 6: Move the robot to the release location
wait(1)
 
# Step 7: Open the Gripper at full speed and full force
flange_serial_write(modbus_send_make(b"\x09\x10\x03\xE8\x00\x03\x06\x09\x00\x00\x00\xFF\xFF"))
wait(0.25)
res, data = flange_serial_read() 
 
# Step 8: Read Gripper status until the opening is completed
flange_serial_write(modbus_send_make(b"\x09\x03\x07\xD0\x00\x03"))
wait(0.25)
res, data = flange_serial_read() 
 
flange_serial_close() 

# Sample RC6 V2 Gripper
# select port (1,2)
# If your robot is A, you can select 1 only
port = 1

flange_serial_write(modbus_send_make(b"\x41\x06\x00\x00\x01\x2c"), port)
res, data = flange_serial_read(1,port )
wait(0.2)

flange_serial_write(modbus_send_make(b"\x41\x06\x00\x01\x03\xe8"), port )
res, data = flange_serial_read(1,1)
wait(0.2)

flange_serial_write(modbus_send_make(b"\x41\x06\x00\x02\x00\x01"), port )
res, data = flange_serial_read(1,port )
wait(0.2)

flange_serial_write(modbus_send_make(b"\x41\x06\x00\x00\x01\x2c"), port )
res, data = flange_serial_read(1,port )
wait(0.2)

flange_serial_write(modbus_send_make(b"\x41\x06\x00\x01\x00\x00"), port )
res, data = flange_serial_read(1,port )
wait(0.2)

flange_serial_write(modbus_send_make(b"\x41\x06\x00\x02\x00\x01"), port )
res, data = flange_serial_read(1,port )
wait(0.2)