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drl_start (Auto Mode)

This section explains how to use drl_start during Auto (Run) operations to start a DRL (Doosan Robotics Language) program from an external application (e.g., PC, PLC gateway).

The function is typically used to trigger pre-defined task logic or inline DRL scripts that describe motion, I/O handling, and simple control flow while the robot is already in Auto Mode.

Typical usage

  • Start a DRL task when a production cycle begins (e.g., from a PC HMI).

  • Execute an inline DRL script for simple repetitive motions or testing.

  • Trigger different DRL routines depending on product type or workcell state.

  • Integrate with external systems (MES/PLC) to control task start without using the teach pendant.

Note

  • The robot must be in Auto (Run) mode and ready state (e.g., eSTATE_STANDBY or equivalent) before calling drl_start.

  • The DRL string must follow the same syntax as programs created on the controller.

Example: Starting a Simple DRL Loop in Auto Mode

#include "DRFLEx.h"
#include <iostream>
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // 1) Connect & initialize (omitted here – handled in common setup code)
    //    e.g., drfl.open_connection("192192.168.137.100");
    //          drfl.set_robot_system(ROBOT_SYSTEM_REAL);

    // 2) Define a simple DRL program as a string
    //    - Repeats a back-and-forth joint motion three times.
    std::string drlProgram =
        "loop = 0\\r\\n"
        "while loop < 3:\\r\\n"
        "    movej(posj(10,10,10,10,10,10), vel=60, acc=60)\\r\\n"
        "    movej(posj(0,0,0,0,0,0), vel=60, acc=60)\\r\\n"
        "    loop = loop + 1\\r\\n"
        "end\\r\\n";

    // 3) Ensure robot is in Auto Mode and ready
    if (drfl.get_robot_mode() == ROBOT_MODE_AUTONOMOUS &&
        drfl.get_robot_state() == eSTATE_STANDBY) {

        // Choose target robot system:
        // - ROBOT_SYSTEM_REAL    : real robot (field)
        // - ROBOT_SYSTEM_VIRTUAL : virtual system (simulation/test)
        ROBOT_SYSTEM targetSystem = ROBOT_SYSTEM_REAL;

        if (!drfl.drl_start(targetSystem, drlProgram)) {
            std::cerr << "Failed to start DRL program." << std::endl;
            return -1;
        }

        std::cout << "DRL program started in Auto Mode." << std::endl;
    } else {
        std::cerr << "Robot is not in Auto/Standby state. Cannot start DRL." << std::endl;
    }

    return 0;
}

In this example, once the robot is switched to Auto Mode and reaches the Standby state, the external application starts a simple DRL loop on the target robot system using drl_start.

Tips

  • Combine with drl_stop and drl_pause to implement start/stop buttons in your external UI.

  • Use ROBOT_SYSTEM_VIRTUAL during development to verify DRL logic without moving a real robot.

  • Keep DRL strings small and focused; for large logic, consider storing DRL files on the controller and using higher-level program management APIs if available.

  • Log the DRL script or its version ID when starting tasks to simplify debugging in production environments.