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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.

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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.

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