DRL Generator

DRL Generator is the function that generates the DRL in a way of Block Code.

Info.

DRL stands for Doosan Robotics Language. DRL is the script for running the robot, which means that when you use this language, you can operate the robot's movement.

Articles

DRL User Interface

Motion Command

Flow Control Command

Other Command

Advanced Command

How to use DRL Generator

Step 1: Open Dart-IDE

Access: https://ide.drdart.io

Step 2: Open your project

Document - Dar-IDE - DRL Generator - Open project

Step 3: Click on Add File, then Add DRL File (.drl)

Document - Dar-IDE - DRL Generator - Add DRL file

After adding the DRL file, you should name the file.

Document - Dar-IDE - DRL Generator - Name for DRL file

Attention notes:

Do not put the name that already exists in your project.
A file name can't contain any of the following characters : < > ; ?' "\ / * space ~ .

Step 4: Open the file .drl, then design your task

Document - Dar-IDE - DRL Generator - Main screen

Step 5: When you finish the design commands in TASK LIST Panel, click on the DRL Coding tab. At that time, the commands will immediately generate the source code on the DRL CODE page.

Document - Dar-IDE - DRL Generator - DRL Coding mode

Types of commands to use the DRL Generator

1) Move command

These are commands used to adjust or change the robot's pose.

	Command	Description
1	Move J	It is used to move the robot to the target joint coordinates.
2	Move L	It is used to move the robot along a line toward the target workspace coordinate.
3	Move SX	It is used to move the robot along a curved line connecting multiple through points and target points within the workspace.
4	Move SJ	It is used to move the robot along a curved line connecting multiple through points and target points expressed as a joint coordinate.
5	Move C	It is used to move the robot along an arc composed of a current point through point and target point.
6	Move B	It is used to move the robot along a line, and the arc connects multiple through points and target points within the workspace.
7	Move Spiral	It is used to move the robot along a path extending to the outer side from the center of a spiral.
8	Move Periodic	It is used to move the robot along a path repeated periodically.
9	Move JX	It is used to move the robot to the target workspace coordinate and joint form. It does not move along a straight line.
10	Stop Motion	It is used to stop task execution.

To better understand the usages, properties, samples, and variables, please refer to Motion Command.

2) Flow control command

These commands can control the task flow through task standby, repeat, and execute commands included in the task and conditions.

	Command	Description
1	If	It is used to branch according to a specific condition during task execution.
2	Else If	It is used to branch according to a specific condition during task execution.
3	Repeat	It is used to repeat the task command.
4	Continue	It is used to return to the first command of a repetition statement (Repeat).
5	Break	It is used to exit the repeat execution command (Repeat).
6	Exit	It is used to end task execution.
7	Sub	It is used to define a subroutine within the task.
8	Call Sub	It is used to execute the defined subroutine.
9	Thread	It is used to define a thread within the task.
10	Run Thread	It is used to execute the defined thread.
11	Kill Thread	It is used to end thread execution.
12	Sub Task	It is a command to define a thread within the task.
13	Call Sub Task	It is a command to execute a defined subtask.
14	Wait	It is used to stop task execution temporarily.
15	User Input	It is used to receive user input and save it in a variable during task execution. Messages are limited to 256 bytes. It is recommended that the text be concise. Some text is omitted with an ellipsis (…) for long text. Formatting code such as newline (\n) or carriage return (\r) is not allowed.
16	Watch Smart Pendant	It is used to control the Function button.

Please read Flow Control Command to get more information about the usages, properties, samples, and variables.

3) Other Command

There are commands that weigh the item and receive user input.

	Command	Description
1	Comment	It is used to save user-designated information in a log during task execution. Messages are limited to 256 bytes. It is recommended that the text be concise. Some text is omitted with an ellipsis (…) for long text. Formatting code such as newline (\n) or carriage return (\r) is not allowed.
2	Custom Code	It is used to insert and execute a DRL code during task execution.
3	Define	It is used to define a variable during task execution.
4	Popup	It is used to display a popup screen during task execution. Messages are limited to 256 bytes. It is recommended that the text be concise. Some text is omitted with an ellipsis (…) for long text. Formatting code such as newline (\n) or carriage return (\r) is not allowed.
5	Set	It is used to execute various settings during task execution.
6	Weight Measure	It is used to measure the weight during task execution and save it in a variable.
7	Wait Motion	It is used to temporarily stop the robot after the previous motion command is complete.
8	GlobalVariables	It is used to add a Global Variable.

If you want to know each command's usages, properties, samples, and variables, please read this document Other Command.

4) Advanced command

There is a command to execute Hand-guiding.

	Command	Description
1	Hand Guide	It is used to execute direct teaching during task execution.
2	Nudge	It is used to delay task execution until Nudge (applying force to the robot) input.

For a detailed understanding, please refer to Advanced Command.