'!TITLE "RCXSample_Drive.pcs"

Sub Main 

	Dim caoCtrl As Object
	Dim caoRob As Object

	Dim caoVarSrvo as Object
	Dim caoVarWhere 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:133.215.201.11:23, 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")
	set caoVarWhere = caoRob.AddVariable("@WHERE")

	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(20000, 150000, 0, 0, 0, 0)
	caoVarP11.Value = Array(11000, 50000, 0, 0, 0, 0)
	caoVarP12.Value = Array(-200.0, -150.0, 0, 0, 0, 0)

	caoRob.Execute "Drive", array(array(array(1, "P11")), "S=100")
	caoRob.Execute "Drive", array(array(array(2, "P10")), "SPEED=50")	' 2軸移動

	caoRob.Execute "Drive", array(array(array(1, "400.0")), "S=100")	
	caoRob.Execute "Drive", array(array(array(2, "200.0")), "S=40")	

	caoRob.Execute "DriveI", array(array(array(1, "P12")), "S=30")		' 相対移動
	caoRob.Execute "DriveI", array(array(array(2, "P12")), "S=50")		' 相対移動

	P1 = caoVarWhere.Value

End Sub