CAO_RC8PRovider_VB6_Robot.frm

Dim g_eng As CaoEngine
Dim g_ctrl As CaoController
Dim g_robot As CaoRobot
Dim g_robotVar As CaoVariable
Dim g_haltFlag As Boolean

Private Sub Command1_Click()
    ' Start motor if arm is stationary
    If g_robotVar.Value = False Then
        g_robot.Execute "Motor", Array(1, 0)
    End If
End Sub

Private Sub Command2_Click()
    ' Stop motor if arm is stationary
    If g_robotVar.Value = False Then
        g_robot.Execute "Motor", Array(0, 0)
    End If
End Sub

Private Sub Command3_Click()
    ' Stop robot
    g_robot.Halt

    ' Record robot stop
    g_haltFlag = True
End Sub

Private Sub Command4_Click()
    ' Do not run new operation instruction if arm is running
    If g_robotVar.Value = True Then
        Exit Sub
    End If
    
    g_haltFlag = False

    ' Run robot
    g_robot.Move 1, "@P P10", "NEXT"
    
    ' Do not start next motion until previous motion is completed
    Do Until g_robotVar.Value = False
        DoEvents
    Loop

    ' Do not start next motion if robot has stopped
    If g_haltFlag = True Then
        Exit Sub
    End If

    ' Run robot
    g_robot.Move 1, "@P P11", "NEXT"
End Sub

Private Sub Form_Load()
    Set g_eng = New CaoEngine

    ' Connect RC: IP setting depends on your RC setting.
    Set g_ctrl = g_eng.Workspaces(0).AddController("RC8", "caoProv.DENSO.RC8", "", "Server=192.168.0.1")

    ' Create CaoRobot object
    Set g_robot = g_ctrl.AddRobot("Arm")

    ' Argument used to check arm running status
    Set g_robotVar = g_robot.AddVariable("@BUSY_STATUS")

    ' Get arm control authority
    g_robot.Execute "Takearm"

    ' Start motor
    Command1_Click
End Sub

Private Sub Form_Unload(Cancel As Integer)
    ' Stop motor
    Command2_Click

    ' Release arm control authority
    g_robot.Execute "Givearm"
    
    g_robot.Variables.Clear
    Set g_robotVar = Nothing
    g_ctrl.Robots.Clear
    Set g_robot = Nothing
    g_eng.Workspaces(0).Controllers.Remove g_ctrl.Index
    Set g_ctrl = Nothing
    Set g_eng = Nothing
End Sub