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.