[AKL]

Here is one way to do it

Do you have the touch sensor option from Fanuc? You can just do a touch search and it will do it just under the touch sensing just need to map the I/O to which DI (number) and where the signal comes EthernetIP, hardwire etc. Then when you have that figured out you just set a PR() for the targets as the starting points and speed. Then when that Di is triggers just save the positional data as a PR ().

Careful not to have the speed set too fast