SubTask / CallSubTask

Doosan Robotics provides SubTask commands and also provides CallSubTask commands to call SubTask statements.

Add SubTask command

1. In the Command tab, find and click the SubTask command under the Flow Control group.

2. In the Property tab, enter the name of the SubTask.

3. Select a previously created Task.

Add CallSubTask command

1. In the Command tab, find and click the CallSubTask command under the Flow Control group.

2. In the Property tab, select the name of the SubTask.

Call SubTask using CustomCode

You can call SubTask using CustomCode command instead of CallSubTask command.

1. When the SubTask name is "sub_task_a"

2. Enter the following in the CustomCode property:
   sub_program_run("sub_task_a")

Backward Compatibility

• For versions below Dart-Platform 3.4, enter as follows:
  sub_task_a()