'!TITLE "DRCXSample_IncDec.pcs"

Sub Main 
	Dim caoCtrl As Object
	Dim caoRob As Object
	Dim caoVarSrvo As Object
	Dim iCnt As long
	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("rob")
	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 "XDEC"	
	caoRob.Execute "YINC"

	for iCnt = 0 to 10
		caoRob.Execute "X+"
		caoRob.Execute "Y-"
	next 
	for iCnt = 0 to 10
		caoRob.Execute "X-"
		caoRob.Execute "Y+"
	next

'	caoRob.Execute "XINC"
'	caoRob.Execute "XDEC"	

	caoRob.Execute "YINC"
	caoRob.Execute "YDEC"	
	
End Sub