Features
This is a function for executing the program (task) consisting of the DRL language in the robot controller.
Parameter
|
Parameter Name |
Data Type |
Default Value |
Description |
|
eRobotSystem |
enum.ROBOT_SYSTEM |
|
Refer to the Definition of Constant and Enumeration Type |
|
strDrlProgram |
string |
|
Program character string to execute |
Return
|
Value |
Description |
|
0 |
Error |
|
1 |
Success |
Example
C++
string strDrlProgram = "\r\n\
loop = 0\r\n\
while loop < 3:\r\n\
movej(posj(10,10.10,10,10.10), vel=60, acc=60)\r\n\
movej(posj(00,00.00,00,00.00), vel=60, acc=60)\r\n\
loop+=1\r\n\
movej(posj(10,10.10,10,10.10), vel=60, acc=60)\r\n";
if (drfl.get_robot_state() == eSTATE_STANDBY) {
if (drfl.get_robot_mode() == ROBOT_MODE_AUTONOMOUS) {
// Automatic Mode
ROBOT_SYSTEM eTargetSystem = ROBOT_SYSTEM_VIRTUAL;
drfl.drl_start(eTargetSystem, strDrlProgram)
}
}
-
The robot operation state should be STATE_STANDBY, and the robot motions normally when the robot mode is automatic mode.
-
The DRL program should be made by referring to the programming manual document in the appendix.