flange_serial_open (Auto Mode)

This section explains how to use flange_serial_open during Auto (Run) operations to open a serial communication channel on the robot’s flange-mounted serial port.

The flange serial interface allows communication with end-effector devices such as smart grippers, torque drivers, barcode scanners, sensors, and other serial-based peripherals.

Typical usage

  • Establish communication with a serial-based smart gripper.

  • Connect to end-effector measurement sensors or barcode readers.

  • Initialize a tool-mounted device before starting Auto Mode cycles.

  • Perform serial I/O exchanges during automated tasks.

Note

  • nBaudRate must match the device settings (e.g., 9600, 115200).

  • Serial mode typically uses 8N1 (8 data bits, no parity, 1 stop bit).

  • Ensure the cable and wiring match the robot’s flange serial pinout.

  • Must be called before flange_serial_write or flange_serial_read.

Example: Opening Serial Communication with a Smart Gripper

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

int main() {
    CDRFLEx drfl;

    // Open flange serial port at 115200 baud
    if (!drfl.flange_serial_open(115200)) {
        printf("Failed to open flange serial port.\n");
        return -1;
    }

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

In this example, the flange serial port is opened to prepare communication with a tool-mounted peripheral.

Tips

  • Always open the serial port before attempting read/write operations.

  • Match baud rate and wiring with the connected device’s specifications.

  • Close the port after use to avoid locking the communication channel.

  • Use flange_serial_write and flange_serial_read for data exchange.