【发那科】【KAREL】读取当前的坐标系，并写入到寄存器

--【KAREL 内置函数的介绍】

-- SET_POS_REG Built-In Procedure

-- Purpose: Stores an XYZWPR value in the specified position register

-- Syntax : SET_POS_REG(register_no, posn, status, group_no>)

-- Input/Output Parameters :

-- [in] register_no : INTEGER

-- [in] posn : XYZWPR

-- [out] status : INTEGER

-- [in] group_no : INTEGER

-- %ENVIRONMENT Group :REGOPE

-- Details:

-- • register_no specifies the position register in which to store the value.

-- • The position data is set in XYZWPR representation with no conversion.

-- • status explains the status of the attempted operation. If not equal to 0, then an error occurred.

-- • If group_no is omitted, the default group for the program is assumed. Data for other groups

-- is not changed.

-- • If group_no is specified, it must be in the range of 1 to the total number of groups defined on

-- the controller.

--【KAREL 内置函数的示例】

PROGRAM  reg_ex
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-- Creation date: 2023.08.12
-- Created by: Ming.Li
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-- Version: 0.0.0.0 - 00
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-- Function: 【寄存器写入数据】
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%COMMENT = 'REGISTER_EX1'
%ALPHABETIZE
%INCLUDE KLEVKEYS
%INCLUDE KLEVKMSK
%INCLUDE KLEVCCDF
%INCLUDE KLIOUOP
%INCLUDE KLIOTYPS

CONST
cc_success  = 0      -- Success status
cc_xyzwpr   = 2      -- Position Register has an XYZWPR
cc_jntpos   = 9      -- Position Register has a JOINTPOS

VAR
xyz :XYZWPR
jpos :JOINTPOS
r_val :REAL
prg_indx,
i_val,
pos_type,
num_axes,
status :INTEGER
r_flg :BOOLEAN


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-- BEGIN REGISTER                           
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BEGIN

-- Clear the TP USER menu screen    
write(chr(137),chr(128)); 
-- Force the TP USER menu to be visible
FORCE_SPMENU(TP_PANEL,SPI_TPUSER,1)

WRITE('Getting Current Position',cr)
-- Get the current position

xyz = CURPOS(0,0) 
WRITE('Storing Current position to PR[1]',cr)
-- Store the position in PR[1]
SET_POS_REG(1,xyz, status) 

-- -- verify SET_POS_REG is successful
IF (status = cc_success) THEN 
WRITE('Executing "PROG_VAL.TP"',cr)
ENDIF
-- --Execute ’PROG_VAL.TP’ starting at line 2. Do not pause on entry of PROG_VAL.

-- -- CALL_PROGLIN('PROG_VAL',2,prg_indx, FALSE)

END reg_ex