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When we know the subject For example My mom cooked some food مادرم مقداری غذا درست کرد Who cooked some food? My mom کی غذا درست کرد؟ مادرم
When We have a subject or the subject should be prioritize in compared to the object.
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Well, actually there's no specific meaning for it in English. It depends on where and when to use it. Sometimes it can be used as a preposition or an object. For example, in English, you simply say "Did you see me?" And the meaning in Farsi is من را دیدی؟ But there's no sign of a translated "را" in the English version. But without it, The Farsi version of it, the meaning wouldn't be complete.
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