how to create program automatic denso robot manipulator with camera

Option Explicit

' Cao Object
Private CaoEng As CaoEngine
Private CaoWS As CaoWorkspace
Private WithEvents CaoCtrl As CaoController
Private CaoRobo As CaoRobot
Private Posisi_Joint_and_XY(0 To 1) As CaoVariable
Private DerajatJoint(0 To 7) As Single

'tombol
Private Sub Btn_Pilot_to_Robot_OFF_Click()
    Btn_Pilot_to_Robot_ON.Enabled = True
    Btn_Pilot_to_Robot_OFF.Enabled = False
    Timer1 = False
End Sub

Private Sub Btn_Pilot_to_Robot_ON_Click()
    Btn_Pilot_to_Robot_ON.Enabled = False
    Btn_Pilot_to_Robot_OFF.Enabled = True
    Timer1 = True
End Sub

'tombol hubungkan ditekan
Private Sub BtnHubungkan_Click()
    If (CaoCtrl Is Nothing) Then Connect Else Disconnect
End Sub

Private Sub Form_Load()
    Set CaoEng = New CaoEngine
    Set CaoWS = CaoEng.Workspaces(0)
    
    Btn_Pilot_to_Robot_ON.Enabled = False
    Btn_Pilot_to_Robot_OFF.Enabled = False
End Sub

'tombol Go untuk menggerakkan robot
Private Sub Go_Button_Click()
    DerajatJoint(0) = CInt(InputX)
    DerajatJoint(1) = CInt(InputY)
    DerajatJoint(2) = CInt(InputZ)
    DerajatJoint(3) = CInt(InputRX)
    'DerajatJoint(4) = CInt(InputRY)
    DerajatJoint(5) = CInt(InputRZ)
    
    On Error Resume Next
    CaoRobo.Move 1, Array(DerajatJoint, "J", "@P")   'pilih Joint lalu gerakkan robotnya
    'CaoRobo.Move 1, Array(DerajatJoint, "P", "@P")   'pilih Point lalu gerakkan robotnya
    DoEvents
End Sub

'koneksi kan ke robot denso
Private Sub Connect()
On Error GoTo ErrProc
    Dim sConn As String
    sConn = "Conn=eth:" & IP_Denso.Text & ", Invisible=True, Timeout=800"
    Set CaoCtrl = CaoWS.Controllers.Add("", "CaoProv.DENSO.NetwoRC", "", sConn)
    
    With CaoCtrl
        Set CaoRobo = .AddRobot("RC7M")
        If (CaoRobo Is Nothing) Then GoTo ErrProc
        Set Posisi_Joint_and_XY(0) = CaoRobo.AddVariable("@CURRENT_ANGLE")
        Set Posisi_Joint_and_XY(1) = CaoRobo.AddVariable("@CURRENT_POSITION")
    End With
        
    BtnHubungkan.Caption = "&1 Putuskan"
    Btn_Pilot_to_Robot_ON.Enabled = True
    Btn_Pilot_to_Robot_OFF.Enabled = False
    Timer1 = False
    Exit Sub
ErrProc:
    MsgBox "Gagal Koneksi"
End Sub

'matikan hubungan dengan robot denso
Private Sub Disconnect()
    If Not CaoCtrl Is Nothing Then
        CaoWS.Controllers.Remove CaoCtrl.Index
        Set CaoCtrl = Nothing
        
        BtnHubungkan.Caption = "&1 Hubungkan"
        Btn_Pilot_to_Robot_ON.Enabled = False
        Btn_Pilot_to_Robot_OFF.Enabled = False
    End If
End Sub

Private Sub Timer1_Timer()

 On Error Resume Next
    'mengambil nilai joint J1 - j6
    Denso_Joint.Text = "J1= " & CSng(Posisi_Joint_and_XY(0)(0)) & vbCrLf & _
                       "J2= " & CSng(Posisi_Joint_and_XY(0)(1)) & vbCrLf & _
                       "J3= " & CSng(Posisi_Joint_and_XY(0)(2)) & vbCrLf & _
                       "J5= " & CSng(Posisi_Joint_and_XY(0)(4)) & vbCrLf & _
                       "J6= " & CSng(Posisi_Joint_and_XY(0)(5))
    'mengambil koordinat end of effector
    Denso_EoE.Text = "X= " & CSng(Posisi_Joint_and_XY(1)(0)) & vbCrLf & _
                     "Y= " & CSng(Posisi_Joint_and_XY(1)(1)) & vbCrLf & _
                     "Z= " & CSng(Posisi_Joint_and_XY(1)(2)) & vbCrLf & _
                     "RX= " & CSng(Posisi_Joint_and_XY(1)(3)) & vbCrLf & _
                     "RY= " & CSng(Posisi_Joint_and_XY(1)(4)) & vbCrLf & _
                     "RZ= " & CSng(Posisi_Joint_and_XY(1)(5))
End Sub