For information on the latest version, please have a look at GL013301.
flange_serial_read (Auto Mode)
This section explains how to use flange_serial_read during Auto (Run) operations to receive data from a device connected to the robot’s flange-mounted serial port.
This function reads a specified number of bytes into a buffer, allowing the robot to process responses or sensor readings from the tool.
Typical usage
Receive status feedback from a smart gripper.
Read barcode/QR scan data from a serial scanner.
Acquire sensor data from tool-mounted measurement devices.
Implement handshake/acknowledgment logic with external peripherals.
Note
The serial port must be opened beforehand with
flange_serial_open.Many devices require request–response timing considerations.
Example: Reading a Response From a Tool Device
#include "DRFLEx.h"
#include <cstdio>
#include <cstring>
using namespace DRAFramework;
int main() {
CDRFLEx drfl;
// Open serial port
drfl.flange_serial_open(115200);
// Receive buffer
unsigned char buff[128];
memset(buff, 0, sizeof(buff));
// Read up to 128 bytes
int readSize = drfl.flange_serial_read(buff, 128);
if (readSize <= 0) {
printf("No data received.\n");
return -1;
}
printf("Received (%d bytes): %s\n", readSize, buff);
return 0;
}
In this example, data is read from the tool after a previous write operation, allowing the robot to receive device responses in Auto Mode.
Tips
Allocate sufficient buffer size for expected messages.
Some devices require a delay after write before attempting to read.
Use polling or loop-based reads for larger or streaming data.
Combine with serial-write to implement command–response or handshake protocols.