You're reading the documentation for an older, but still supported version (1.33.4).
For information on the latest version, please have a look at 1.33.5.

flange_serial_open (Manual Mode)

This section explains how to use flange_serial_open during Manual (Teach) operations to establish serial communication between the robot’s flange port and an external device such as a gripper, sensor, or tool controller.

Typical usage

  • Manually send/receive data to verify tool communication during setup.

  • Check device response and signal integrity before automatic program execution.

Note

  • After opening, you can use flange_serial_write and flange_serial_read for data exchange.

  • The flange board revision used by the flange serial and flange I/O functions is read at open_connection.

Example: Open flange serial port and verify communication

// Preconditions:
// - Connection established (open_connection)
// - Manual (Teach) mode active
// - External serial device connected to flange X1

// 1) Open the flange serial port
bool opened = drfl.flange_serial_open(
    1,                    // Port number
    115200,               // Baud rate
    BYTE_SIZE_EIGHTBITS,  // Data bits
    PARITY_CHECK_NONE,    // Parity
    STOPBITS_ONE          // Stop bits
);

if (!opened) {
    printf("[Flange] Failed to open X1.\n");
    return -1;
}
printf("[Flange] X1 opened successfully.\n");

// 2) (Optional) Write / read test data
// char cmd[] = "STATUS?";
// drfl.flange_serial_write((int)strlen(cmd), cmd, 1);
// LPFLANGE_SER_RXD_INFO_EX rx = drfl.flange_serial_read(3.0f, 1);
// printf("Response: %.*s\n", rx->_iSize, (const char*)rx->_cRxd);

// 3) Close after test
drfl.flange_serial_close(1);
printf("[Flange] X1 closed.\n");

Tips

  • Match baudrate, parity, and stop bits exactly with the device’s serial configuration.

  • Use short test messages (e.g., 8–32 bytes) to confirm stable communication.

  • If open fails, check cable wiring (TX/RX swap) or ensure the port is not already active.

  • Always close the port using flange_serial_close before reopening or switching devices.