'!TITLE "RCXSample_AccelDeccel.pcs"

Sub Main 

	Dim caoCtrl As Object
	Dim caoRob As Object

	Dim caoVarSrvo as Object
	Dim caoVarP10 as Object
	Dim caoVarP11 as Object
	Dim caoVarP12 as Object

	Dim vRes As Variant

'	set caoCtrl = cao.AddController("rcx1", "CaoProv.YAMAHA.RCX","","conn=com:2:19200:o:8:1:1, timeout=20000")
	set caoCtrl = cao.AddController("rcx1", "CaoProv.YAMAHA.RCX","","conn=eth:10.6.235.100:23,user=USER,password=PASSWORD, timeout=20000")

	set caoVarP10 = caoCtrl.AddVariable("P10")
	set caoVarP11 = caoCtrl.AddVariable("P11")
	set caoVarP12 = caoCtrl.AddVariable("P12")

	set caoRob = caoCtrl.AddRobot("rob1", 1)
	set caoVarSrvo = caoRob.AddVariable("@SERVO")

	if (Left(caoVarSrvo.Value, 3) = "OFF") then
		vRes = caoRob.Execute("Servo", array("ON"))	'全軸のサーボON

		do while (Left(caoVarSrvo.Value, 3) = "OFF")
		loop
	end if		

	caoVarP10.Value = Array(450000, 80000, 0, 0, 0, 0)
	caoVarP11.Value =  Array(100000, 230000, 0, 0, 0, 0)
	caoVarP12.Value = Array(0, -50000, 0, 0, 0, 0)

	caoRob.Accelerate 0, 50, 50
	caoRob.Move 1, "P11", "SPEED=80"	' 1=PTP

	caoRob.Accelerate 1, 10, 80
	caoRob.Accelerate 2, 80, 10
	caoRob.Move 1, "P10", "SPEED=100"

	caoRob.Accelerate 1, 100, 30
	caoRob.Accelerate 2, 30, 100
	caoRob.Move 1, "0 170.0 0 0 0 0", "SPEED=100"

	caoRob.Accelerate 0, 50, 50
	caoRob.Move 2, "P11", "SPEED=80"

	caoRob.Accelerate 0, 100, 100

	caoRob.Speed 0, 100	
	caoRob.Move 1, "0 300.0 0 0 0 0"

	caoRob.Execute "ASPEED", 10	
	caoRob.Move 1, "0 0.0 0 0 0 0"

	caoRob.Execute "ASPEED", 100	

End Sub

'
'Sub SetVarP(aryData As Variant, objP As Object)
'
'	On Error Resume Next
'
'	Dim lCnt As Long
'	Dim lType As long
'	Dim lPValue(5) As Long
'	Dim fPValue(5) As Single
'
'	for lCnt = 0 to 5
'		lType = VarType(aryData(lCnt))
'		select case lType
'		case 3
'			lPValue(lCnt) = aryData(lCnt)
'		case 4
'			fPValue(lCnt) = aryData(lCnt)		
'		end select
'	next
'
'	if (lType = 3) then
'		objP.Value = lPValue
'	else
'		objP.Value = fPValue
'	end if
'
'End Sub