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drl_start

This is a function for executing the program (task) consisting of the DRL language in the robot controller.

Definition
DRFLEx.h within class CDRFLEx, public section (line 934)

bool drl_start(ROBOT_SYSTEM eRobotSystem, string strDrlProgram) {
    return _drl_start(_rbtCtrl, eRobotSystem, strDrlProgram.c_str());
};

Parameter

Parameter Name	Data Type	Default Value	Description
eRobotSystem	ROBOT_SYSTEM		Refer to the Definition of Enumeration Type
strDrlProgram	string		Program character string to execute.

Return

Value	Type	Description
0	int	Error
1	int	Success

Example

string strDrlProgram = "\r\n\
loop = 0\r\n\
while loop < 3\r\n\
    movej([10.00, 10.00, 10.00, 10.00, 10.00, 10.00], vel=60, acc=60)\r\n\
    movel([20.00, 20.00, 20.00, 20.00, 20.00, 20.00], vel=60, acc=60)\r\n\
    loop += 1\r\n\
end\r\n";

if (drfl.get_robot_state() == STATE_STANDBY) {
    if (drfl.get_robot_mode() == ROBOT_MODE_AUTONOMOUS) {
        // Automatic Mode
        ROBOT_SYSTEM eTargetSystem = ROBOT_SYSTEM_VIRTUAL;
        drfl.drl_start(eTargetSystem, strDrlProgram);
    }
}

Note

The robot operation state should be STATE_STANDBY, and the robot motions normally when the robot mode is automatic.
The DRL program should be made by referring to the programming manual document in the appendix.

This function enables execution of DRL-language motion tasks directly on the controller. It is primarily used for autonomous or batch task execution, with DRL commands defined in string form. Ensure that the controller is in standby and autonomous mode before invoking this function.