DRL Studio | Homberger Robotica 4.0

DRL Studio

Integrated Development Environment for Doosan Robotics Language

DRL and Python advanced programming

Robot - IDE project Synchronization

Off line programming with RoboDK

PowerUp library extensions!

CheckAppSmart HMI editor]

  • DRL studio is a Software Development Environment for Doosan Robotics Language and Python advanced programming.
  • No need to manually import/export you code on USB stick, DRL Studio can upload your project, script and sub modules, directly on the robot.
  • No need to have a robot connected, test your robot programs on RoboDK simulator with the integrated off-line programming feature.
  • Search for extensions, python libraries and examples inside the PowerUP Library and add them to your project.
  • Design your HMI, link it with DRL functions and variables, run it on robot teach pendant

Be More Productive

Save time while DRL Studio takes care of the routine. Focus on the bigger things and let to DRL Studio the duty to upload, run and manage programs on robots.

Get Smart Assistance

DRL Studio knows everything about your code. Rely on it for intelligent code completion, on-the-fly error checking and quick-fixes, easy project navigation, and much more.

Boost Code Quality

Write neat and maintainable code while the IDE helps you keep control of the quality with PEP8 checks, testing assistance and smart refactorings.

Simply All You Need

DRL Studio is designed by programmers, for programmers, to provide all the tools you need for productive DRL development.

DRL Studio has been realized as a plug-in of the IntelliJ Jetbrains Platform.

Smart HMI Editor

The Smart HMI Editor can be used to develop custom HMI panels for Doosan Robotics teach pendant. A set of predefined components such as Buttons, Labels, Images, Variable Monitors and Parameter Inputs, can be disposed in a drag and drop way to achieve the desired HMI panel and then linked to DRL variables and functions.

The realized HMI panel can be deployed on robot Teach Pendant, on  CheckApp smartphone application or on CheckApp desktop application.

PowerUp Library

PowerUps are Python libraries that can be imported inside a DRL Studio project to provide additional functionalities. Each PowerUp is equipped with interactive documentation and working examples.

Background lib

This PowerUp is intended to be used for the background processing feature on the Hub. Background processing can be used to monitor the status of the robot even when a program task is not running. Beckground tasks can be used also to control the robot digital and analog I/O, configure rules and fire desired events when triggering conditions are met.

Background tasks are executed on the Homberger Hub, not on the Robot, so this PowerUp library is not intended for developing robot programs but to realize parallel tasks that must be uploaded on the hub using the Background Task tool window inside DRL Studio.

WARNING: the Homberger Hub it's not a safety board, so safety events must be managed along with safety devices and connections.


This PowerUp provides integration functions for CheckApp application.

CheckApp is the App of the Homberger Hub platform focus on smart human robot interaction. Interaction between robot and users can be realized through CheckApp Smartphone App or with custom HMI panels displayed directly on robot teach pendnat.

CheckApp Smartphone App can be used to monitor robot and process data, change robot parameters, receive notifications and check application logs.

In order to let final users interact easily with your program, this PowerUp allows also to integrate custom HMI panels on doosan teach pendant. Predefined components such as Buttons, Labels, Param Inputs, Variable Monitors, Images can be added to your panel using DRL Studio HMI editor and then linked with DRL functions or variables.

Easy Pallet

This PowerUp provides accurate and flexible functions forpalletizing applications.

Pallets can be configured using number of row, columns and layers or specifying size and dimensions of boxes.

Provided functions:
- automatic calculation of pallet points
- automatic calculation of approach directions
- layer mirroring
- auto save pallet status


This PowerUp provides integration functions with Keyence Camera vision system. The library can be used to trigger a vision job and retrieve resulting information.

Motion lib

This PowerUp provides additional motion skills for integrated motion control, trajectory planning and force control.Functions includes:

- euler angles conversion functions
- singularity and reach check
- custom tool integration
- integrated pick and place operations
- integrated stack and unstack operations with force control
- integrated insert operations with force control
- touch and collision detection
- integrated tool on path functions for gluing applications
- move serpentine and move blending functions
- simplified conveyor tracking
- user frames coordinates
- stoppable functions to abort tasks


This PowerUp allows a direct integration for OnRobot tools inside DRL. Using this library you can operate OnRobot tools without need of digital I/O or modbus protocol. Only IP address of OnRobot control box is required.

Supported tools are:
- RG2
- RG6
- Sander
- VG10
- 2FG7
- VGP20
- 3FG15
- Double Quick Changer
- Eyes


This PowerUp supports OPC UA client and server communication protocol. OPC Unified Architecture (OPC UA) is a machine to machine communication protocol for industrial automation developed by the OPC Foundation.

Supported features:
- client and server
- namespaces and objects navigation
- variables read and write
- properties read and write
- methods invocation
- subscriptions handlers

Remote API

This PowerUp allows to call DRL commands from an external applications or devices. TCP, HTTP or RPC protocols are supported. Thanks to this library, DRL commands can be called and executed directly from a remote application without developing custom communication logic or integration.

When using TCP protocol, DRL commands can be sent to the robot as string on the socket comunication.

With HTTP protocol, rest API with json body can be used to send DRL commands or whole scripts, and receive result in response.

Using RPC protocol, DRL functions can be directly invoked with the same syntax from python clients.


This PowerUp provides integration functions with SensoPart Visor vision system. The library can be used to trigger a vision job and retrieve resulting information.

This library can be used also to display SensoPart web application on the robot teach pendnat to monitor vision job execution.


This PowerUp provides integration with Solomon 3D vision system for random bin picking applications.

Solomon AccuPick 3D is a powerful robotic 3D vision solution based on Artificial Intelligence technologies. Its variable 3D vision hardware compatibility, along with its comprehensive deep learning vision software algorithm and its multi-brand robot motion planning interface, make AccuPicK 3D the perfect all-in-one solution for your robotic 3D vision projects.

Integration provided in this PowerUp is based on solomon TCP/IP protocol. AccuPick version 2 has TCP/IP protocol enabled by default, while AccuPick version 3 and 4 can be configured in more flexible way using protcol template inside the flowchart design.

Both Eye-To-Hand and Eye-In-Hand methods are supported by the PowerUp.

Utils lib

This PowerUp provides utilities and management function for:

- application logging on USB
- saving and loading persistent parameters
- persistent system variables
- CSV data monitoring
- cycle time calculation
- USB device serial communication (i.e for Arduino board)
- USB file management
- Python libraries and sub programs management
- bit and number conversion functions
- sanding emails


This PowerUp allows to display web sites, web pages and any other web content directly on robot teach pendant. Useful to let operators interact with web applications connected to the robot system.

Nowadays many ERP, WMS and SCM platforms are provided as local or cloud web application, using Web view PowerUP you can display and interact with your business logic and processes directly on the robot, without additional monitors, HMI or PC.

WebView PowerUp requires CheckApp to be installed on robot.

Training materials

Lesson 1: Basics

Lesson 2: Off-line programming

Lesson 3: PowerUp Library

Learn how to extend your Doosan Robotics projects with PowerUp libraries. In this tutorial Motion Lib, OnRobot and Utils Lib extensions have beern used during exercise demonstration.

Lesson 4: Smart HMI

Learn how to build custom HMI screen for the robot teach pendat and let operators easily interact with your robotics applications.

Lesson 5: Background Task

Learn how to develop background task for Doosan Robotics. Background task are always running, even when the robot program is stopped. Furthermore you can install and run any python library on the background task.

Lesson 6: EasyPallet for palletizing applications


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Download Windows version 1.8.0

Homberger Hub

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DRL Studio comes with Homberger Hub, a compact device that can be connected to Doosan Robots to provide additional features and functionalities.

Homberger Hub instantly provides wireless connectivity to any external application such as Doosan Robotics Client Tool and DRL Studio with the aim of easing developments of Industry 4.0 applications.

DRL Studio can be associated with one or more Doosan Robotics cobots, contact Homberger Team to discover the plan that best suit your needs.

Get DRL Studio NOW!


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