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For information on the latest version, please have a look at GL013301.

flange_serial_close (Auto Mode)

This section explains how to use flange_serial_close during Auto (Run) operations to close the previously opened flange serial communication channel.

Closing the port ensures that the communication interface is released properly and can be reopened later if needed.

Typical usage

  • Safely close the serial port after data exchange is complete.

  • Reset the communication interface before switching devices.

  • Release the port during shutdown or error recovery routines.

  • Prevent conflicts when using multiple tool-mounted peripherals.

Note

  • Should only be called after flange_serial_open was used.

  • Further read/write calls will fail until the port is reopened.

  • Good practice in long-running or multi-tool systems.

Example: Closing the Flange Serial Port After Communication

#include "DRFLEx.h"
#include <cstdio>
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // Example: Close the serial port at the end of a task
    if (!drfl.flange_serial_close()) {
        printf("Failed to close flange serial port.\n");
        return -1;
    }

    printf("Flange serial port closed.\n");
    return 0;
}

In this example, the robot closes its flange serial port after completing end-effector communication.

Tips

  • Always close ports during system shutdown or before switching tools.

  • Useful for recovering from serial errors or mismatched baud rates.

  • Combine with flange_serial_open for clean initialization cycles.

  • Helps prevent resource locking in tool-change scenarios.