PURPOSE: To improve a profile accuracy at any time by rocking a torch for an arc profile by preceding the rocking of the torch for weaving welding, and using a welding condition at the time of this rocking as a condition for raising the profile accuracy.
CONSTITUTION: For instance, when a weld line WL is brought to flat weaving welding by a right angle coordinate welding robot RO of a playback system, an operating point P of an arc welding torch T is shifted from an original point P0 to P1, and the torch position is made vertical. Subsequently, the point P is shifted to P2WP7, but separately from an operation by which the torch T crosses the line WL for welding exclusively, it is made to execute a crossing operation for an arc profile of the line WL by preceding in respect of the time and the position. Also, a welding condition in the crossing operation for this profile is set to a value which is suitable for detecting the center of the line WL. In this way, at the time of crossing for inputting an information, padding by welding is small in a part on the line WL, therefore, since the groove shape is not deformed, an exact information can be inputted.
HOUKAKU KEIICHI
KOYAMA HIDEO
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