CAO_RC8PRovider_PACScript_Robot.pcs

'!TITLE "RobotProgram"

Sub Main 
	Dim g_eng As Object
	Dim g_ctrl As Object
	Dim g_robot As Object
	Dim g_robotVar As Object
	Dim g_haltFlag As Integer
	
	'Connect RC: IP Setting depends on your RC setting
	g_ctrl = cao.AddController("RC", "CaoProv.DENSO.RC8", "", "Server=192.168.0.1")
	
	'Create CaoRobot object
	g_robot = g_ctrl.AddRobot("Arm")
	
	'Argument used to check arm running status
	g_robotVar = g_robot.AddVariable("@BUSY_STATUS")
	
	'Get arm control authority
	g_robot.Execute "Takearm"
	
	'Start Motor
	g_robot.Execute "Motor", Array(1,0)
	
	Do While 1
		
		Select Case I[0]
			'Start motor if arm is stationary
			Case 1 
					If g_robotVar.Value = False Then 
						g_robot.Execute "Motor", Array(1,0)
					End If 
					I[0] = 0
			
			'Stop motor if arm is stationary
			Case 2 
					If g_robotVar.Value = False Then		
						g_robot.Execute "Motor", Array(0,0)
					End If 
					I[0] = 0
			
			'Stop Robot
			Case 3 
					g_robot.Halt
					'Record robot stop
					g_haltFlag = 1
					I[0] = 0
			
			'Start Motion
			Case 4 
					'Do not run new operation instruction if arm is running	
					If g_robotVar.Value = True Then
						I[0] = 0
						Exit Do
					End If  
					
					g_haltFlag = 0
						
					'Run robot
					g_robot.Move 1, "@P P10", "Next"
						
					'Do not start new motion until previous motion is completed
					Do 
						Delay 100
					Loop Until g_robotVar.Value = False
						
					'Do not start new motion if robot has stopped 
					If g_haltFlag = 1 Then 
						I[0] = 0
						Exit Do
					End If 
					
					'Run Robot
					g_robot.Move 1, "@P P11", "Next"
					I[0] = 0
			
			'Exit Loop
			Case 5 
					'Stop Motor
					g_robot.Execute "Motor", Array(0,0)
					
					'Release arm control authority
					g_robot.Execute "Givearm"
					
					g_robot.Variables.Remove g_robotVar.Index
					g_ctrl.Robots.Remove g_robot.Index
					cao.Controllers.Remove g_ctrl.Index
					
					Exit Do
		End Select
	Loop
End Sub