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sub_program_run()

Definition

sub_program_run(name)

Features

It executes a subprogram saved as a separate file.

Parameters

Parameter Name

Data Type

Default Value

Description

name

string

-

Name of subprogram

Return

Value

Description

module

Module object of executed subprogram

Exception

Exception

Description

DR_Error (DR_ERROR_TYPE)

Parameter data error occurred

DR_Error (DR_ERROR_VALUE)

Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME)

C Extension module error occurred

DR_Error (DR_ERROR_STOP)

Program terminated forcefully

Note

  • The first line of the subprogram must have the phrase "from DRCF import *".

  • When programming with a teaching pendant, this phrase is automatically inserted.

  • If the global variable names of the main program and subprograms are the same, they operate as different variables. Variables cannot be referenced by each other.

  • If you need to share variables between the main program and subprograms, use system variables.

  • System variables are set through the teaching pendant. Please refer to the user manual for detailed usage.

Example

Python
# 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