The automation of the multi-pass welding of nozzles is very difficult because of the complex shape of the weld line. However, the authors have developed an industrial robot controlled by a microcomputer that can automatically perform the multi-pass welding.
The parameters of MAG welding process such as torch position, torch direction, welding velocity, etc. were first obtained, then the welding algorithm was established and confirmed experimentally.
The objective of this study is to select the welding conditions to input to microcomputer. It has been confirmed that the prameters of welding condition were enalbe to give suitable bead shape and bead appearance.