When you generate a program that calls a subprogram, RoboDK will automatically create an instruction to call that subprogram. On the other hand, you can customize program output to inline subprograms directly on your main program and prevent program calls.

Note: Some post processors will include subprograms in the main program file by default (such as the default ABB post processor) and other post processors will not include the subprograms as they are usually separate files in the robot controller (such as the default Fanuc post processor).

Tip: This feature is useful if your controller requires numbered programs instead of named programs.

Follow these steps to inline sub-programs to avoid calling offline programs by following these steps:

1.Select Tools➔Options.

2.Select the Program tab.

3.Check the option Inline subprograms.

From now on, when you generate programs that contain subprograms you will obtain the contents of these subprograms directly in the first/main program.

Robot Programs - Image 45