FANUC Pick & Place Offset Issues

Hey everyone! I am currently trying to implement some sort of vision offset pick & place simulation, but currently having trouble where when my program hits line 9, it will do some crazy rotations when it should be moving towards the object to pick it up. I am new to FANUC so I honestly have no idea what is going on and what I have to do.

I did have an issue earlier with the Offset Data Calculation Tool where I was unable to set a ref. pos. status because the camera will capture at the position where it should be picking up the shell (thus not being able to see the shell itself because the camera is mounted on the robot).

Anyone know how to solve this problem by any chance? Any feedback will be appreciated. Thank you!

Video of simulation: Video

Picture of code:

Thank you all for the reply. For the position, which position are you referring to? Are you talking about my position registers?

I tried to change line 9 to joint, but I get the error MOTN 017 Limit Error (G: 1, A: 5).

I have also just turned off the orientation.

Here is the picture of the current program and positions:

Also, my understanding is that the reference position is the position where the robot arm is inside the object and is ready to pick up the object. Is that true?

I just measured it and my part is 98mm from the ground. Is this the value I should be putting in?

Quote from Nation

Is your part really -287mm from where your application frame is taught?

No. It is what will be subtracted from the vision's found position.

Made some fixes like all of you have recommended me AND after updating my user frame, the simulation is working properly.

Thank you all for your help!!!