'!TITLE "DRCXSample_Org.pcs"

Sub Main 

	Dim caoCtrl As Object
	Dim caoRob As Object
	Dim caoVarSrvo as Object
	Dim caoVarOrg As Object
	Dim caoVarOrg0 As Object
	Dim caoVarOrg1 As Object
	Dim caoVarOrg2 As Object
	Dim caoVarOrg3 As Object
		
	Dim vRes As Variant

	set caoCtrl = cao.AddController("sr1", "CaoProv.YAMAHA.SR1","","conn=com:2:9600:o:8:1:1, timeout=60000")
	set caoRob = caoCtrl.AddRobot("rob1")
	set caoVarOrg = caoRob.AddVariable("@ORG")
	set caoVarOrg0 = caoRob.AddVariable("@ORG0")
	set caoVarOrg1 = caoRob.AddVariable("@ORG1")
	set caoVarOrg2 = caoRob.AddVariable("@ORG2")
	set caoVarOrg3 = caoRob.AddVariable("@ORG3")
	set caoVarSrvo = caoRob.AddVariable("@SRVO")

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

	' パラメータ省略
	caoRob.Execute "ORG"	
	do while (caoVarSrvo.Value = 0)
	loop

	' パラメータ０（全軸）
	caoRob.Execute "ORG", 0	
	do while (caoVarOrg0.Value = 0)
	loop

	' パラメータ1（１軸）
	caoRob.Execute "ORG", 1
	do while (caoVarOrg1.Value = 0)
	loop

	' パラメータ2（２軸）
	caoRob.Execute "ORG", 2	
	do while (caoVarOrg2.Value = 0)
	loop

	' 以下は失敗する
'	caoRob.Execute "ORG",  3
'	do while (caoVarOrg3.Value = 0)
'	loop


End Sub