fanuc touch sensing angle mount

has anyone use touch sensing, 3D shift with rotation search, with a wall mount robot ?

when doing the Search in [X,Y or Z], the robot move in World coordinate.

since the robot is wall mount, the X direction goes up and down and the Z direction goes horizontal in World.

in the touch schedule i dont see an option to change to USER frame instead of the World frame, for joint search.

i am wondering if there is a way to do it tell to use USER instaed of World, so the robot search accordinglgly ewith the part relation to the robot.

DS, i think you're right. this might be what the Touch Frame Setup is all about. I thought it was the caculation resultat of the search. im going to try it now.

DS, you're the man. i setup the Tcouch Frame correctly and it works. thank you very much