Patent ID: 7842904

Claim:
A welding system including: a wire feeding unit which feeds a welding wire to a welding torch; an actuator which holds the welding torch and moves the welding torch; a controller which has a position control system and drive-controls the actuator; and a welding power supply unit which applies weld output between a workpiece and the welding wire, wherein the welding torch is moved by the actuator in a direction separating from the workpiece thereby to control the velocity of the welding wire for the workpiece; and the controller includes, separately from the position control system, a dedicated separation control system which moves the actuator only in the direction where the welding torch is separated from the workpiece; and the dedicated separation control system is always connected to the position control system, and the controller outputs a velocity command relating to a welding torch pull-up operation to the dedicated separation control system and outputs a velocity command relating to an operation other than the welding torch pull-up operation to the position control system without the dedicated separation control system.