How to use Karel program to move Joint?

I'd like to move robot by karel program

My idea is save the target joint position in register, than operator the Fanuc Robot move to the target joint position.

Quote from PnsStarter

Hi chibai,

Fanuc has not supported movements with Karel for a long time. In general, however, this is still possible.

-- > Call a tp program in a karel program to move the robot...

Fanuc has some examples of this in some docs.

Thanks a lot！

This is exactly what I want