drl_pause (Auto Mode)

This section explains how to use drl_pause during Auto (Run) operations to temporarily pause a running DRL (Doosan Robotics Language) program.

Pausing halts robot motion and task execution at the current instruction, allowing operators or external systems to perform checks, adjustments, or synchronizations without stopping the entire program.

Typical usage

• Pause the robot during inspection, positioning correction, or vision checks.

• Temporarily stop movement when a sensor condition requires validation.

• Integrate with HMI/PLC “PAUSE” buttons for operator workflows.

• Halt robot motion safely without terminating the DRL program.

Note

• Can only be called when the program is currently running.

• The program remains paused until drl_resume is invoked.

Example: Pausing a Running DRL Program

#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // 1) Check whether a DRL program is running
    if (drfl.get_program_state() == DRL_PROGRAM_STATE_PLAY) {

        // 2) Pause program execution
        if (!drfl.drl_pause()) {
            printf("Failed to pause DRL program.\n");
            return -1;
        }

        printf("DRL program paused.\n");
    } else {
        printf("No running DRL program.\n");
    }

    return 0;
}

In this example, the robot pauses only if a DRL task is currently in the PLAY (running) state, ensuring safe and predictable interruption during Auto Mode operation.

Tips

• Combine with drl_resume for pause/resume workflows.

• Helps during manual checks, recalibration steps, or workstation alignment.

• DRL program execution fully stops but is not terminated.

• Effective in collaborative setups requiring temporary human intervention.