flange_serial_read (Manual Mode)

This section explains how to use flange_serial_read during Manual (Teach) operations to receive data from an external serial device connected to the robot’s flange port.

Typical usage

• Read response messages from a gripper, sensor, or other serial tool.

• Verify communication timing and response content after sending commands.

• Perform real-time monitoring of tool feedback during manual diagnostics.

Note

• Must be used after successfully opening the port with flange_serial_open.

Example: Read response after sending command

// Preconditions:
// - Connection established (open_connection)
// - Manual (Teach) mode active
// - Device connected and port open
drfl.flange_serial_open(FLANGE_COM1, 115200);

// 1) Send request command
const char cmd[] = "STATUS?\r\n";
drfl.flange_serial_write(strlen(cmd), (char*)cmd, FLANGE_COM1);

// 2) Read response with timeout (3 sec)
LPFLANGE_SER_RXD_INFO_EX rx_info = drfl.flange_serial_read(3.0, FLANGE_COM1);
if (rx_info && rx_info->_nRxdSize > 0) {
    printf("[Flange] Received (%d bytes): %s\n",
                rx_info->_nRxdSize, rx_info->_chRxdData);
} else {
    printf("[Flange] No response or timeout.\n");
}

// 3) Close port
drfl.flange_serial_close(FLANGE_COM1);

Tips

• Adjust timeout depending on device response time.

• Always check _nRxdSize before accessing the received buffer.

• If read returns null or empty, verify baud rate, parity, and wiring.

• Combine with flange_serial_write for full request–response testing.