'!TITLE "DRCXSample_Srvo.pcs"

Sub Main 

	Dim caoCtrl As Object
	Dim caoRob As Object
	Dim caoVarSrvo As Object
	Dim caoVarSrvo0 As Object
	Dim caoVarSrvo1 As Object
	Dim caoVarSrvo2 As Object
	Dim caoVarSrvo3 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 caoVarSrvo = caoRob.AddVariable("@SRVO")
	set caoVarSrvo0 = caoRob.AddVariable("@SRVO0")
	set caoVarSrvo1 = caoRob.AddVariable("@SRVO1")
	set caoVarSrvo2 = caoRob.AddVariable("@SRVO2")
	set caoVarSrvo3 = caoRob.AddVariable("@SRVO3")

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

	if (caoVarSrvo0.Value = 0) then
		caoRob.Execute "srvo", array(1, 0)	
		do while (caoVarSrvo0.Value = 0)
		loop
	end if	
	caoRob.Execute "srvo", 0	

	if (caoVarSrvo1.Value = 0) then
		caoRob.Execute "srvo", array(1, 1)	
		do while (caoVarSrvo1.Value = 0)
		loop
	end if	
	caoRob.Execute "srvo", 0	

	if (caoVarSrvo2.Value = 0) then
		caoRob.Execute "srvo", array(1, 2)	
		do while (caoVarSrvo2.Value = 0)
		loop
	end if	
	caoRob.Execute "srvo", 0	

	' 以下は失敗する
'	caoRob.Execute "srvo", array(1, 3)
'	do while (caoVarSrvo3.Value = 0)
'	loop


End Sub