'!TITLE "DRCXSample_Ach.pcs"

Sub Main 

	Dim caoCtrl As Object
	Dim caoRob As Object
	Dim caoVarSrvo as Object
		
	Dim vRes As Variant

	set caoCtrl = cao.AddController("sr1", "CaoProv.YAMAHA.SR1","","conn=com:2:9600:o:8:1:1, timeout=20000")
	set caoRob = caoCtrl.AddRobot("rob1")
	set caoVarSrvo = caoRob.AddVariable("@SRVO")

	if (caoVarSrvo.Value = 0) then
		vRes = caoRob.Execute("srvo", 1)
		do while (caoVarSrvo.Value = 0)
		loop
	end if		

	caoRob.Execute "ACHA", array(1, 10.0)
	caoRob.move 2, array(11,20)

	caoRob.Execute "ACHI", array(1, 100.0)
	caoRob.move 2, array(11,20)

End Sub