You're reading the documentation for an older, but still supported version (1.33.4).
For information on the latest version, please have a look at 1.33.5.

drl_start

This function runs a program (task) written in DRL in the robot controller.

Available in Auto mode only. In other modes the function returns false and prints “this command can only be used in auto mode. please change to auto mode as robot mode”. The mode check uses the value returned by get_robot_mode.

Definition
DRFLEx.h within class CDRFLEx, public section

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. The DRL program text must not exceed 1,042,433 bytes.

Return

Value	Type	Description
0	int	Error
1	int	Success

Note

Returns false without a message when the robot is in STATE_EMERGENCY_STOP, STATE_SAFE_OFF, STATE_SAFE_OFF2, STATE_SAFE_STOP or STATE_SAFE_STOP2.

Returns false if the request was refused. A return of true does not confirm that the controller applied the request; get_robot_mode and get_program_state report the request made by this CDRFLEx instance, so they do not confirm it either. A refusal is reported through TOnLogAlarmCB.

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(posx(559, 434.5, 651.5, 0, 180, 0), vel=60, acc=60)\r\n\
    loop += 1\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 moves normally when the robot is in Auto mode.
Write the DRL program according 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 Auto mode before invoking this function.