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

PY

# 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