Patent ID: 7960672

Claim:
A robot welding controller for short-circuit-welding, the robot welding controller comprising: a robot having a welding torch at a tip thereof; a robot controller for controlling the robot; a wire feeder for feeding a wire to the welding torch; a welding electric power source for supplying an electric power between the wire and a base material; a contact detecting section for detecting contact of the wire and the base material; a feed direction switching section for switching feed directions of the wire; an arc generation detecting section for detecting that an arc is generated between the wire and the base material; a waveform control section controlling electric power waveforms applied between the wire and the base material to be a first waveform constituted by plural pulses having a same shape or a second waveform having a short-circuit-welding waveform different from the first waveform; and a welding sequence section controlling the contact detecting section, the feed direction switching section, the arc generation detecting section and the waveform control section, making the wire feeder to feed the wire in a normal direction, directing the feed direction switching section to switch the feeding direction in a reverse direction when the contract detecting section detects contact between the wire and the base material, directing the feed direction switching section to switch the feeding direction in a normal direction when the arc generation detecting section detects an arc generation, directing the waveform control section to output the first waveform till a predetermined time after detection of the arc generation and for directing the waveform control section to output the second waveform if the predetermined time has passed, wherein a parameter variable for changing waveforms of the first waveform and the second waveform is set from the robot controller.