Mesa smart serial or PktUART or serial over RS232 or udp for robot joints

It's good thing to know.
Do you know are there some configs with stmbl driving robots available around?
I saw some integrations with robots but encoders are read by mesa cards directly.
I would be more interested in this part which you mentioned if stmbls are set up in this way that they send position over smart serial.

Do you happen to know on higher level how this position report over smart serial works if we want to read 6 robot joints positions?
Correct me if I am wrong, but possibly in HAL we would have 6 sequential position requests, one request per each joint. We would wait for each one stmbl to report its position. So request + stmbl processing time + reply over smart serial and this happens 6 times. From fast look earlier not 100% sure but I think that there are 2 mcu in stmbl, so possibly one of them fast handles communication.

As I know, you can use a smart serial UART to read the Yaskawa ABS encoder, but you need to make a custom component to handle it, including 2 elements: a UART channel and an increment encoder channel.
1st: read the ABS encoder at the initial state
2nd: set the abs position by summing up the abs and increment

Okey, are you referring to make custom firmware/component for FPGA for UART + quadrature encoder logic or referring to hal component?

Just a hal component to take data from the UART and encoder channel then handle it

Thanks both on suggestions, I see, checked both links quickly.
Have a question on principal level.
I need to have in fpga both uart component and quadrature enc component.
In order to work enc reading, first enc input pins should be connected to fpga input uart pins and then via some logic/demux this pins needs to be routed to quadrature logic in order to get inc pulses and also there is need to issue select signals on this demux after uart transfer sequence is finished.
Or other way, enc pins are connected to both uart and quadrature module components inside fpga but enable signals of both components are separately controlled via some conditions/logic.
Is this working this way or?

Actually I took a look at this in the past and had some example firmware source, I will take a look on Monday.
And yes, it requires grafting on a simple UART connected to the "A" encoder pin (the UART can be quite basic as its
parameters are fixed)