'!TITLE "RCXSample_Weight.pcs"

Sub Main 

	Dim caoCtrl As Object
	Dim caoRob As Object

	Dim caoVarP10 As Object
	Dim caoVarP11 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 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(0, 100000, 0, 0, 0, 0)	' 整数=パルス
	caoVarP11.Value = Array(350.0, 170.0, 0, 0, 0, 0)

	' weight
	caoRob.Execute "Weight", 5

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

	caoRob.Execute "Weight", 2

	caoRob.Move 1, "P11", "S=100"

	caoRob.Execute "Weight", 20	'20kg

	' AxWght	 		
	caoRob.Execute "AxWght", array(2,5)

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

	caoRob.Execute "AxWght", array(2,2)

	caoRob.Move 1, "P11", "S=100"

	caoRob.Execute "AxWght", array(2,7)


End Sub