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