' Pick and Place

Sub PRO1
   Set Ctrl = cao.AddController("", "CaoProv.DENSO.NetwoRC", "", "Conn=eth:192.168.0.1")

   Set P1 = Ctrl.AddVariable("P1")
   Set P2 = Ctrl.AddVariable("P2")
   Set P3 = Ctrl.AddVariable("P3")
   Set P4 = Ctrl.AddVariable("P4")

   P1.Value = ToR4(Array(271.48, -207.73, 400.59, 177.11, 3.97, 140.97,5))
   P2.Value = ToR4(Array(271.48, -212.73, 33.59, 177.11, 3.97, 140.97,5))
   P3.Value = ToR4(Array(271.48, 202.27, 400.59, 177.11, 3.97, 140.97,5))
   P4.Value = ToR4(Array(271.48, 202.27, 33.59, 177.11, 3.97, 140.97,5))

   Set arm = Ctrl.AddRobot("VM")
   arm.SPEED -1, 100	 '-1：手先速度
   FOR I=1 TO 10
      arm.MOVE 1, "P1"
      arm.MOVE 2, "P2"
      EXT.Delay 10
      arm.MOVE 2, "P1"
      arm.MOVE 1, "P3"
      arm.MOVE 2, "P4"
      arm.MOVE 1, "P3"
   NEXT
End Sub

Function ToVar(vntSrc)
   ToVar = DAT.ChangeType(vntSrc, 12)	' VT_VARIANT = 12
End Function

Function ToR4(vntSrc)
   ToR4= DAT.ChangeType(vntSrc, 4)	' VT_R4 = 4
End Function