' Pick and Place

Sub PRO1
   Set Ctrl = cao.AddController("", "CaoProv.DENSO.NetwoRC", "", "Conn=eth:192.168.0.1")

   Set P11 = Ctrl.AddVariable("P11")
   Set P12 = Ctrl.AddVariable("P12")
   Set P13 = Ctrl.AddVariable("P13")
   Set P14 = Ctrl.AddVariable("P14")

   P11.Value = ToR4(Array(271.48, -207.73, 400.59, 177.11, 3.97, 140.97,5))
   P12.Value = ToR4(Array(271.48, -212.73, 33.59, 177.11, 3.97, 140.97,5))
   P13.Value = ToR4(Array(271.48, 202.27, 400.59, 177.11, 3.97, 140.97,5))
   P14.Value = ToR4(Array(271.48, 202.27, 33.59, 177.11, 3.97, 140.97,5))

   Set arm = Ctrl.AddRobot("VM")
   arm.SPEED -1, 100	 '-1：手先速度
   FOR I=1 TO 10
      arm.MOVE 1, "P11"
      arm.MOVE 2, "P12"
      EXT.Delay 10
      arm.MOVE 2, "P11"
      arm.MOVE 1, "P13"
      arm.MOVE 2, "P14"
      arm.MOVE 1, "P13"
   NEXT
End Sub

Function ToVar(vntSrc)
   ToVar = DAT.ChangeType(vntSrc, 12)	' VT_VARIANT = 12
End Function

Function ToR4(vntSrc)
   ToR4= DAT.ChangeType(vntSrc, 4)	' VT_R4 = 4
End Function