Patent ID: 6927360

Claim:
Method of continuously controlling and tracking a position of a welding torch and a welding head relative to a weld seam to be produced on a workpiece, wherein the welding torch is spaced at a distance apart from the workpiece and the weld seam, and effects a pendulum motion which is superimposed on its linear welding motion, electric state variables are detected as they vary in time, the lateral deviation of the welding torch from the weld seam, in particular from the weld seam center, and/or the height of the welding torch above the workpiece and weld seam being derived from the detected actual value signals in order to control and track the position of the welding torch, characterised in that process-dependent actual values are evaluated by a control system of the welding device or at least one other control system in the welding device, whereupon the control system transmits one or more correction value(s) relating to the position of the welding torch to a device or system connected to the welding device, in particular a welding robot or a robot system, and a measurement value is detected during specific process phases of a pulse period during pulse welding, several measurement signals being generated during a pulse period, and specific process phases during the pulse period are detected solely on the basis of the electric state variable value signals generated in the welding device during the welding process.