Call Sub Task Command
Overview
The Call Sub Task Command is the command used to execute a subprogram saved as a separate file.
Property
Annotation
You can insert text in the description, unique meaning, or nickname for each Parameter to differentiate from many DRL Components.
Parameters
In Parameter Panel, it will help you create or select your variable to define the parameter of the chosen command.
For detailed DRL description other than parameter, please refer to the following online manual link: https://manual.doosanrobotics.com/help/programming/2.9/publish/en_us/sub_program_run-name-8427406.html.
Parameter Name | Data Type | Default Value | Description |
name | string | - | Name of subprogram |
Example
DRL Code
# subprogramA and subprogramB must be created and saved in advance.
<subProgramA.drl>
from DRCF import *
movej([0,0,90,0,90,0], vel=30, acc=30)
<subProgramB.drl>
from DRCF import *
movej[(10,0,90,0,90,0), vel=30, acc=30)
<main program>
while True:
var_select = tp_get_user_input("Select File", DR_VAR_INT)
if var_select == 0:
sub_program_run("subProgramA") # execute subProgramA
elif var_select == 1:
sub_program_run("subProgramB") # execute subProgramB