Fanuc Robot Search z and y for arc welding start position

    I have a fanuc welding robot that is searching z and y and storing the data in a PR to use touch offset to find the weld seam starting position. I have a new part that i am needing to change the start position on with the same search function. problem i am having is that when i touch up my points the search works exactly as it should. But it does not store the data in the PR and the robot crashed into the work piece when the touch offsett from the search is applied. I am newer to welding robots and the functions used with them is there anyway i could get some help on getting this search data to store in the PR and find the seam correctly for this new part? Does anyone know what manual i can find the search function in? Code posted below.


    90: Search Start [2] PR[92] ;

    91:L P[117] 500mm/sec FINE ;

    92:L P[118] 500mm/sec FINE Search[Y] ;

    93:L P[119] 500mm/sec FINE ;

    94:L P[120] 500mm/sec FINE Search[-Z] ;

    95: Search End ;

    96: ;

    97:J P[140] 50% FINE ;

    98:J P[134] 50% FINE ;

    99: ;

    100: Search Start [2] PR[94] ;

    101:L P[130] 500mm/sec FINE ;

    102:L P[131] 500mm/sec FINE Search[Y] ;

    103:L P[132] 500mm/sec FINE ;

    104:L P[133] 500mm/sec FINE Search[-Z] ;

    105: Search End ;


    131: Touch Offset PR[92] ;

    132: ;

    133:L P[25] 100mm/sec FINE

    : Weld Start[1,13] ;

    134: Weave Circle[5] ;

    135: TIMER[1]=STOP ;

    136: TIMER[1]=RESET ;

    137: TIMER[1]=START ;

    138:L P[26] WELD_SPEED CNT100 COORD ;

    139:C P[27]

    : P[28] 5.5inch/min CNT100 COORD ;

    140:L P[17] 6.0inch/min CNT100 COORD ;

    141:L P[29] WELD_SPEED CNT100 COORD ;

    142:L P[30] WELD_SPEED CNT100 COORD ;

    143:C P[31]

    : P[32] 5.5inch/min CNT100 COORD ;

    144:L P[33] 6.0inch/min CNT100 COORD ;

    145: Touch Offset End ;

    146: Touch Offset PR[93] ;

    147:L P[34] WELD_SPEED CNT100 COORD ;

    148:C P[35]

    : P[36] 5.5inch/min CNT100 COORD ;

    149:L P[19] 7.0inch/min CNT100 COORD ;

    150:L P[37] WELD_SPEED CNT100 COORD ;

    151:L P[38] WELD_SPEED FINE COORD

    : Weld End[1,14] ;

    152: Weave End ;

    153: Track End ;

    154: TIMER[1]=STOP ;

    155: R[5]=TIMER[1] ;

    Usually, the PR does not record the offset, but the coordinates of the point at the intersection of the search axes.


    Try turning on the master flag option in the touch schedule settings: turn on the master flag, "teach" touch on the reference, turn off the master flag and try searching and then use "touch offset"

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