drl_resume (Auto Mode)

This section explains how to use drl_resume during Auto (Run) operations to resume a paused DRL (Doosan Robotics Language) program.

It continues execution from the exact point where drl_pause stopped the task, making it useful for operator-driven pause/resume flows, vision-based inspections, or external system synchronization.

Typical usage

• Resume task execution after a temporary pause for inspection or alignment.

• Continue a DRL routine after checking sensor conditions mid-cycle.

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

• Recover the robot after momentary workflow adjustments without restarting the task.

Note

• Can only be used when the program is in the HOLD (paused) state.

• The function fails if no DRL program is paused.

Example: Resuming a Paused DRL Task

#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // 1) Confirm that the DRL program is paused
    if (drfl.get_program_state() == DRL_PROGRAM_STATE_HOLD) {

        // 2) Resume the DRL program
        if (!drfl.drl_resume()) {
            printf("Failed to resume DRL program.\n");
            return -1;
        }

        printf("DRL program resumed.\n");
    } else {
        printf("DRL program is not paused.\n");
    }

    return 0;
}

In this example, the DRL program resumes only when the controller reports that the program is currently in the HOLD state, enabling clean task continuation.

Tips

• Pair with drl_pause to build robust pause/resume controls.

• Useful during quality checks, vision detection steps, or manual adjustments.

• Works on both real and virtual robot systems without differences.

• Log resume events to track operator interventions during production.