While I was working for KUKA this was common type of weld process. KUKA robot weld guys were good at setting this up and programming anything using arc and spot welding. I was not involved unless they needed help with fieldbus or external axis configuration. for this an external axis or turntable is needed. In case of KUKA there are dedicated tech options for things like this including seam finding and seam tracking. pretty sure Fanuc would have something similar.
We have a turntable to move the canister for Sensor make the Seam Tracking, but i no have much experience with Fanuc Robot, only Kuka,ABB and Yaskawa, the configuration i no have ideia how do this work.
I call to Fanuc for help, and here in Brazil, they dont know how help me.
So i Call to Keyence and They send me a manual for configuration, but the IOs and others crucial points to make this Cell Work i dont have.