I am using the latest RS to program for my older S4C controller and trying to use AWC for multipass welds. My problem is that when I go to replay the path with an offset, the controller tells me that a path has not been recorded. I tried blocking welding/tracking, then I tried letting it weld in hopes that it would record the path. Still nothing. I am using a small program to test this on a piece of angle iron until I get it working. Can anyone see an obvious mistake that I am making?
TL;DR Weld path not recording
My code:
MODULE mPart_1
CONST robtarget p9:=[[0.000641285,-107.459882173,307.780291314],[0.432892239,-0.473484273,-0.667507418,-0.37795608],[0,0,0,0],[2512.656927109,9E9,9E9,9E9,180,9E9]];
CONST robtarget p4:=[[-12.940683173,32.52436489,43.675635075],[0.183012702,-0.683012702,-0.612372436,-0.353553391],[0,-1,1,0],[2512.656927109,9E9,9E9,9E9,180,9E9]];
CONST robtarget p5:=[[0.00026909,66.675,9.525],[0.183012702,-0.683012702,-0.612372436,-0.353553391],[0,-1,1,0],[2512.656927109,9E9,9E9,9E9,180,9E9]];
CONST robtarget p6:=[[152.40026909,66.675,9.525],[0.122787804,-0.69636424,-0.579227965,-0.405579788],[0,-1,1,0],[2512.656927109,9E9,9E9,9E9,180,9E9]];
CONST robtarget p10:=[[131.269355979,34.632180876,41.567819065],[0.122787804,-0.69636424,-0.579227965,-0.405579788],[0,-1,1,0],[2512.656927109,9E9,9E9,9E9,180,9E9]];
CONST robtarget p7:=[[131.269527876,-148.450168387,364.827650222],[0.122787734,-0.696364398,-0.579227913,-0.405579612],[0,-1,1,0],[2512.656927109,9E9,9E9,9E9,180,9E9]];
CONST robtarget p8:=[[449.496471286,-552.735754691,977.041134381],[0.049839746,-0.673925549,-0.233929253,-0.699011773],[-1,-1,1,0],[2512.656927109,9E9,9E9,9E9,180,9E9]];
PROC Path_1()
ActUnit STN2;
ActUnit TRACK;
ConfJ\Off;
ConfL\Off;
MoveJ p9,v500,z5,tWeldGun\WObj:=wobjTable;
MoveJ p4,v1000,z5,tWeldGun\WObj:=wobjTable;
ArcLSto\On,p5,v1000,sm1,wd21,wv6,z5,tWeldGun\WObj:=wobjTable\Track:=tr1\Spacing:=2;
ArcLSto\Off,p6,v100,sm1,wd21,wv6,z5,tWeldGun\WObj:=wobjTable\Track:=tr1;
MoveL p10,v1000,z5,tWeldGun\WObj:=wobjTable;
ArcLRep\On\Off,ly1,v100,sm1,wd22,wv6,z5,tWeldGun\WObj:=wobjTable\Track:=tr1;
ArcLRep\On\Off,ly2,v100,sm1,wd22,wv6,z5,tWeldGun\WObj:=wobjTable\Track:=tr1;
MoveJ p7,v500,z5,tWeldGun\WObj:=wobjTable;
MoveJ p8,v500,z5,tWeldGun\WObj:=wobjTable;
ENDPROC
ENDMODULE