'!TITLE "RCXSample_Torque.pcs"

Sub Main 

	Dim caoCtrl As Object
	Dim caoRob As Object

	Dim caoVarSrvo 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")

	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, 350000, 0, 0, 0, 0)
	caoVarP11.Value = Array(120000, 0.0000, 0, 0, 0, 0)

	caoRob.Execute "Trqtime", array(2, 2500)	' トルクTimeoutを2.5sec

	caoRob.Speed 0,5
'	caoRob.Execute "Drive", array(array(array(2, "P10")), "T=(100,0)")	' トルク20%,トルク15%

	caoRob.Execute "Torque", array(2, 100)		' 2軸のトルクを元に戻す

	caoRob.Execute "Drive", array(array(array(2, "P10")))	

End Sub