5.7 Program Execution and Shutdown

When the program ends, either normally or because of an internal or external error, the program stop command (drl_stop) must be executed. Because the program takes some time to shut down completely, confirm the shutdown in the program stop callback function (TOnProgramStoppedCB), and then restart the program if needed.

On DRCF v2, stopping a program switches the controller to the real robot system; DRCF v3 keeps the selected system.