'!TITLE "RCXSample_Origin.pcs"

Sub Main 

	Dim caoCtrl As Object
	Dim caoRob As Object
	Dim caoVarSrvo as Object
	Dim caoVarOrg as Object		
	Dim caoVarTimeout as Object

	Dim vRes As Variant

	set caoCtrl = cao.AddController("rcx1", "CaoProv.YAMAHA.RCX","","conn=com:2:19200:o:8:1:1, timeout=60000")
'	set caoCtrl = cao.AddController("rcx1", "CaoProv.YAMAHA.RCX","","conn=eth:133.215.201.11:23, timeout=20000")

	set caoVarTimeout = caoCtrl.AddVariable("@Timeout")

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

	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

		vRes = caoRob.Execute("Servo", array("OFF", 2))	'2軸のサーボOFF

		delay 1000
		vRes = caoRob.Execute("Servo", array("ON", 2))	'2軸のサーボON

	end if		

	caoVarTimeOut.Value = 60000
    I0 = caoVarTimeOut.Value

	if (caoVarOrg.Value = "INCOMPLETE") then
		caoRob.Execute "origin"

		do while (caoVarOrg.Value = "INCOMPLETE")
		loop
	end if

	caoVarTimeOut.Value = 20000
    I1 = caoVarTimeOut.Value

End Sub