'!TITLE "DRCXSample_Drive.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 "DRVD", array(1, 100.0, 50)
	caoRob.Execute "DRVD", array(2, 100.0, 50)

	caoRob.Execute "DRVA", array(1, 10, 50)
	caoRob.Execute "DRVA", array(2, 11, 50)

	caoRob.Execute "DRVI", array(1, 11, 50)
	caoRob.Execute "DRVI", array(2, 11, 50)


End Sub