Hey, i've been struggling with motoman welding cell touch sensing, if we are welding difficult seams with a lot of searches, without tracking it seems very hard to maintain, always if the seam goes off the taught point, the edits afterwards take alot of work with multipass welds etc., so im wondering is there a way to make custom search program, that doesnt use normal search surfaces as a reference for calculating the offset, but instead if there was a reference point for arc starting point, so the calculation would be executed as the offset of that taught point to the found surfaces, and not just an millimeter offset from the originally taught surface reference points.
In a nutshell, im looking for a solution that makes correcting weld paths easier, without the need of teaching the search, and weld all over again if the part is misplaced etc.
Tracking is not an option in this particular case.