Correction when moving the robot for welding. (With a 2D sensor (y, z))

KRC 4-8.3.38, RSI-3.3.5.

I have a welding robot. I installed a 2D correction sensor for it. I do not have much programming experience, so I ask for help from professionals. There is very little information. Programming is reduced to the principle of specifying the starting point, direction, and length of the weld. This is not very suitable for me, since there are many difficult movements and the Sensor is installed relative to the torch at a melting distance of about 40mm. I have seen programs for welding with arc correction. Everything is there simply to indicate the start, intermediate and end points of welding. Who can share examples of programming for 2D Sensors connected with RSI. Or examples of functions ... Thank you for any information in advance.

This is an example of code on the basis of which we will program the movement of the robot and its correction. When I program the movement along coordinates relative to my base, the robot moves along them, the rsi signal flow goes but no correction occurs. Where am I going wrong? Maybe someone has an example of programming overlay correction relative to the planned trajectory.

1 DEF RSI_DistanceCtrl( )
2 ; =============================================
3 ;
4 ; RSI EXAMPLE: Distance Crtl
5 ; Move on a LIN path with superimposed corrections
6 ; Deviation from programmed path is controlled with
7 ; a analog input $ANIN[1]
8 ;
9 ; =============================================
10
11 ; Declaration of KRL variables
12 DECL INT ret; Return value for RSI commands
13 DECL INT CONTID; ContainerID
14
15 INI
16
17 ; Move to start position
18 PTP {A1 0, A2 -90, A3 90, A4 0, A5 90, A6 0}
19 $BASE=$POS_ACT
20
21 ; Create signal processing
22 ret=RSI_CREATE("RSI_DistanceCtrl.rsi")
23 IF (ret <> RSIOK) THEN
24 HALT
25 ENDIF
26
27 ; Start signal processing in relative correction mode
28 ret=RSI_ON(#RELATIVE)
29 IF (ret <> RSIOK) THEN
30 HALT
31 ENDIF
32
33 LIN_REL {Y 100}
34
35 ; Turn off RSI
36 ret=RSI_OFF()
37 IF (ret <> RSIOK) THEN
38 HALT
39 ENDIF
40
41 END

Thanks for your feedback.

You mean SeamTech Finding and SeamTech Tracking?

Has anyone worked with these packages?

Can you give me an example of a program for these packages. My interest is to explore the functions for these packages ...