flange_serial_write (Manual Mode)

This section explains how to use flange_serial_write during Manual (Teach) operations to transmit data from the robot’s flange serial port to an external device (e.g., gripper, force sensor, or tool controller).

Typical usage

  • Send control commands or queries to a connected serial device.

  • Test manual command transmission before automatic DRL integration.

  • Verify that the connected device correctly receives and responds to data.

Note

Example: Send simple command to flange device

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

int main() {
    CDRFLEx drfl;

    // Preconditions:
    // - Connection established (open_connection)
    // - Manual (Teach) mode active
    // - Device connected to flange COM1

    // 1) Open port
    if (!drfl.flange_serial_open(FLANGE_COM1, 115200))
        return -1;

    // 2) Prepare and send message
    const char cmd[] = "STATUS?\r\n";
    bool sent = drfl.flange_serial_write(strlen(cmd), (char*)cmd, FLANGE_COM1);
    if (sent)
        std::printf("[Flange] Sent: %s\n", cmd);
    else
        std::printf("[Flange] Transmission failed.\n");

    // 3) Close port
    drfl.flange_serial_close(FLANGE_COM1);
    return 0;
}

Tips

  • Append termination characters (e.g., \r or \n) if the device expects ASCII-based commands.

  • Avoid sending large data blocks continuously in manual mode.

  • Use flange_serial_read afterward to confirm the device’s response.