'!TITLE "RCXSample_RightyLefty.pcs"

Sub Main 

	Dim caoCtrl As Object
	Dim caoRob As Object

	Dim caoVarP10 As Object
	Dim caoVarSrvo 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 caoRob = caoCtrl.AddRobot("rob1", 1)
	set caoVarP10 = caoCtrl.AddVariable("P10")

	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(100.0, 200.0, 0, 0, 0, 0)

	caoRob.Execute "Righty"

	caoRob.Move 1, "P10", "S=100"

	caoRob.Execute "Lefty"

	caoRob.Move 1, "P10", "S=100"

	caoRob.Execute "Righty"

End Sub