and i choose CUBLOC Mobule for control my robot.

The CUBLOC can by programmed in Basic or Ladder or the twice for have // use

From Cubloc webSite

Experience Real-Time processing powers of PLC and BASIC all in one chip.  Now you can process complex math, graphic capabilities, and communication using BASIC language.

High capacity Programming
The CUBLOC modules and CuTOUCH Touch Panels both have 80KB of programming memory...enough for simple to even very complex applications requiring floating point math and MODBUS to inteface with other peripherals.

High capacity Power
Plug-N-Play Relay8 Boards from Comfile Technology are capable of handling up to 5A of 250V AC OR 5A of 30V DC power. Simply Plug-N-You-Are-Ready-To-Go.

http://cubloc.com/product/01_01.php

Is use the support card provide by liynxmotion MiniABB

http://www.lynxmotion.com/Category.aspx?CategoryID=66

this card can support Cubloc C220 and can command extra servomotor or sensor like Sharp

If people are interested by this i post my work when id begin and update when new work are doing

Arnaud

' version 0.1b
' ac & nj 2007 Paris 8 University FRANCE
Const Device = CB220

'========CLEAR RAM============================================
Ramclear
'=======SET DEBUG============================================
Set Debug On

'========OPEN RS232 (CHANNEL 1)===============================
Opencom 1, 19200, 3, 100, 100  'set to 8-N-1 open channel 1 rs232 TTL 

On Recv1 Gosub GOTDATA 'Function who capture receive data
Bclr 1,2         'Clear channel1 buffer send & receive

LOOP1:
 Do While In(0) = 0 'wait action for start
 Loop
 

 
 Do While In(0) = 1 'wait action for loop
 Loop
Goto LOOP1

GOTDATA:
 If(Blen(1,0) > 5) Then  'if there is at least 6 bytes

 'get characteres

  Endif

  Bclr 1,2 'Clear channel1 buffer send & receive

  '===============================================
  'SELECT function 
  'your function for input action

 Endif
'Debug "next",Cr
Return 'End of Interrupt routine
End