drl_stop (Auto Mode)

This section explains how to use drl_stop during Auto (Run) operations to stop a currently running DRL (Doosan Robotics Language) program.

It is typically used to interrupt a task sequence triggered by :drl_start:, allowing external systems (PC, PLC, MES, vision logic, safety logic) to control when the robot should safely or immediately halt DRL execution.

Typical usage

• Stop an active DRL program when a cycle must be interrupted.

• Apply a Slow Stop for smooth deceleration during normal task transitions.

• Apply a Quick Stop when urgent interruption is required (e.g., product misalignment, sensor triggers).

• Integrate with external UI/PLC buttons (STOP / EMERGENCY STOP substitutes).

Note

• 0 → Slow Stop (gradual deceleration)

• 1 → Quick Stop (immediate halt)

• The function only succeeds if a DRL program is currently running or paused.

Example: Performing a Quick Stop During a Running DRL Task

#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // 1) Check DRL program execution state
    DRL_PROGRAM_STATE state = drfl.get_program_state();

    // 2) Stop only if the program is running or paused
    if (state == DRL_PROGRAM_STATE_PLAY ||
        state == DRL_PROGRAM_STATE_HOLD) {

        // Quick Stop (1): immediate halt
        if (!drfl.drl_stop(1)) {
            printf("Failed to stop DRL program.\n");
            return -1;
        }

        printf("DRL program stopped (Quick Stop).\n");
    } else {
        printf("No active DRL program.\n");
    }

    return 0;
}

In this example, the program checks the current DRL execution state and issues a Quick Stop only when a DRL program is running or paused. This allows external logic to safely interrupt automatic task sequences.

Tips

• Use Slow Stop (0) during routine process changes to avoid abrupt motion.

• Use Quick Stop (1) when immediate intervention is needed.

• Combine with drl_pause for smoother step-wise control.

• Log stop reasons (sensor trigger, operator request, safety event) for debugging and traceability.