FANUC KAREL 实现运动控制

话不多说，上代码

PROGRAM con_joint
----------------------------------------------------
-- Creation date: 2024.09.03
-- Created by: 
----------------------------------------------------
-- Version: 0.0.0.0 - 00
----------------------------------------------------
-- Function: 
----------------------------------------------------
-- Last modified: 2024.09.03
-- Last modified by:                              
----------------------------------------------------
%COMMENT = 'CNV_REL_JPOS(p_cntr_arry, p_cntr, status)'
%ALPHABETIZE
%INCLUDE KLEVKEYS
%INCLUDE KLEVKMSK
%INCLUDE KLEVCCDF
%INCLUDE KLIOUOP
%INCLUDE KLIOTYPS

CONST
num_axs = 6
VAR
p_cntr_arry : ARRAY[6] OF REAL
p_cntr : JOINTPOS6
STATUS : INTEGER
indx : INTEGER
I : INTEGER

ROUTINE move_to_pr FROM move_to_pr

----------------------------------------------------
-- BEGIN con_joint                             
----------------------------------------------------
BEGIN
	LAB_1::  --START
	FOR I = 1 TO 90 DO
      	FOR indx = 1 TO num_axs DO  --初始化每个轴为0
      		  p_cntr_arry[indx] = 0
   		 ENDFOR
		p_cntr_arry[1] = I
		p_cntr_arry[3] = I+1
		p_cntr_arry[4] = I+2
		p_cntr_arry[5] = I+3 --看一下动作
	CNV_REL_JPOS(p_cntr_arry, p_cntr, status)--将数组中每个轴的值赋值给关节点为p_cntr
	SET_JPOS_REG(1, p_cntr, status) -- Put p_cntr in PR[1]  赋值PR[1]值
	move_to_pr  --调用移动指令 进行动作 
--	DELAY 1000   
	ENDFOR
	
	FOR I = 90 DOWNTO 1 DO
      	FOR indx = 1 TO num_axs DO  --初始化每个轴为0
      		  p_cntr_arry[indx] = 0
   		 ENDFOR
		p_cntr_arry[1] = I
		p_cntr_arry[3] = I+1
		p_cntr_arry[4] = I+2
		p_cntr_arry[5] = I+3 --看一下动作
	CNV_REL_JPOS(p_cntr_arry, p_cntr, status)--将数组中每个轴的值赋值给关节点为p_cntr
	SET_JPOS_REG(1, p_cntr, status) -- Put p_cntr in PR[1]  赋值PR[1]值
	move_to_pr  --调用移动指令 进行动作 
--	DELAY 1000   
	ENDFOR
	
	
	GOTO LAB_1
	
	
	
END con_joint

关键指令

CNV_REL_JPOS(p_cntr_arry, p_cntr, status)--将数组中每个轴的值赋值给关节点为p_cntr
SET_JPOS_REG(1, p_cntr, status) -- Put p_cntr in PR[1]  赋值PR[1]值

可以实现 使用KAREL控制每个轴的数值，进而控制轨迹