'!TITLE "RCXSample_HandChange.pcs"

Sub Main 

	Dim caoCtrl As Object
	Dim caoRob As Object

	Dim caoVarSrvo as Object
	Dim caoVarWhrxy as Object
	Dim caoVarP10 as Object
	Dim caoVarP11 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 caoRob = caoCtrl.AddRobot("rob1", 1)
	set caoVarSrvo = caoRob.AddVariable("@SERVO")
	set caoVarWhrxy = caoRob.AddVariable("@WHRXY")

	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(0, 100000, 0, 0, 0, 0)			' 実数=mm/Deg
	caoVarP11.Value = Array(0, 200000, 0, 0, 0, 0)

	caoRob.Execute "Hand", array(1, 0, 50.0, 0, 0)	' Y軸50mmにHAND1定義
	caoRob.Change 1									' HAND1に切替

	caoRob.Move 1, "P10", "SPEED=50"

	S1 = caoVarWhrxy.Value					' 現在値 0,150,0,0,0,0

	caoRob.Change 0									' HAND0に切替

	caoRob.Move 1, "P11", "SPEED=50"

	S2 = caoVarWhrxy.Value		' 現在値 0,200,0,0,0,0

End Sub