For information on the latest version, please have a look at GL013301.
flange_serial_open (Manual Mode)
This section explains how to use flange_serial_open during Manual (Teach) operations to establish serial communication between the robot’s flange port and an external device such as a gripper, sensor, or tool controller.
Typical usage
Manually send/receive data to verify tool communication during setup.
Check device response and signal integrity before automatic program execution.
Note
After opening, you can use flange_serial_write and flange_serial_read for data exchange.
Example: Open flange serial port and verify communication
#include "DRFLEx.h"
#include <cstdio>
#include <thread>
#include <chrono>
using namespace DRAFramework;
int main() {
CDRFLEx drfl;
// Preconditions:
// - Connection established (open_connection)
// - Manual (Teach) mode active
// - External serial device connected to flange COM1
// 1) Open the flange serial port
bool opened = drfl.flange_serial_open(
FLANGE_COM1, // Port number
115200, // Baud rate
BYTE_SIZE_EIGHTBITS, // Data bits
PARITY_CHECK_NONE, // Parity
STOPBITS_ONE // Stop bits
);
if (!opened) {
std::printf("[Flange] Failed to open COM1.\n");
return -1;
}
std::printf("[Flange] COM1 opened successfully.\n");
// 2) (Optional) Write / read test data
// const char cmd[] = "STATUS?";
// drfl.flange_serial_write(FLANGE_COM1, cmd, sizeof(cmd));
// char buf[64] = {0};
// drfl.flange_serial_read(FLANGE_COM1, buf, sizeof(buf));
// std::printf("Response: %s\n", buf);
// 3) Close after test
drfl.flange_serial_close(FLANGE_COM1);
std::printf("[Flange] COM1 closed.\n");
return 0;
}
Tips
Match baudrate, parity, and stop bits exactly with the device’s serial configuration.
Use short test messages (e.g., 8–32 bytes) to confirm stable communication.
If open fails, check cable wiring (TX/RX swap) or ensure the port is not already active.
Always close the port using flange_serial_close before reopening or switching devices.