Adaptive TAST Example Welding program.

Hi Everyone,
I am new to programming Fanuc Robots. We have a M710ic/12L robot with a Lincoln Welding setup. I am trying to write a program that will adapt to filling a groove of unknown depth and breath. I can perform multipass welds to fill the gap but my understanding is that Adaptive TAST will solve my problem.

My controller is loaded with J511 - TAST, J532 - RPMP and Fanuc inform me that I have the required options for adaptive TAST but I cant find any documentation on how to write a program.

Does anyone have an example program that I could model a program off?

Thanks

I got a response from Fanuc that was they dropped support for it in the R30ib Controllers.