I am an intern and I'm just getting started with the welding robot. We have a Fanuc ARC Mate 0iB robot. I was able to figure out basic programming to weld parts. However, to weld similar parts we have to constantly reprogram it and do touch ups considering the tolerances. We are trying to weld a simple T joint. IT would be really helpful if anyone would be willing to tell how touch sensing and through arc seam tracking is to be programmed for a simple T joint (picture attached).
Thank you very much in advance.