flange_serial_write (Auto Mode)

This section explains how to use flange_serial_write during Auto (Run) operations to send data through the robot’s flange-mounted serial communication port.

This function transmits a byte buffer to a serial-based tool device, enabling communication with smart grippers, scanners, torque drivers, and various end-effector peripherals.

Typical usage

  • Send control commands to a smart gripper or driver.

  • Transmit messages to barcode/QR scanners.

  • Send configuration packets to sensor modules.

  • Communicate with serial-based measurement or inspection tools.

Note

  • The serial port must be opened first using flange_serial_open.

  • Data format (ASCII, binary, protocol) must match the device specification.

Example: Sending a Command to a Smart Gripper

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

int main() {
    CDRFLEx drfl;

    // Ensure serial port is open
    drfl.flange_serial_open(115200);

    // Example command (ASCII): "GRIP_OPEN\n"
    const char cmd[] = "GRIP_OPEN\n";

    if (!drfl.flange_serial_write((unsigned char*)cmd, sizeof(cmd))) {
        printf("Failed to write to serial port.\n");
        return -1;
    }

    printf("Command sent to tool.\n");
    return 0;
}

In this example, a command string is sent through the flange serial interface to control a tool-mounted smart gripper.

Tips

  • Use correct command packet format according to device protocol.

  • For binary protocols, ensure proper byte ordering and checksum handling.

  • Avoid excessive write frequency to prevent buffer overrun.

  • Combine with flange_serial_read to implement request–response protocols.