'!TITLE "SR1Sample_Move.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 "Write", Array("P12=50","P13=100.50")

	caoRob.Move 1, array(150, 10)
	caoRob.Move 1, array(100.50, 100)
	caoRob.Move 2, array(10, 100)
	caoRob.Move 2, array(11, 100)

	caoRob.Execute "P", 12
	caoRob.Move 2, array("P", 50)

	caoRob.Execute "P+"
	caoRob.Move 3, array("P", 100)

	caoRob.Execute "P-"
	caoRob.Move 3, array("P", 100)

	vRes = caoRob.Execute("srvo", 0)

End Sub