sub_program_run() | V3-manual

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

Keyword

sub / program / run / sub_ / sub_program