CONTROLLER AND CONTROL METHOD FOR WELDING ROBOT

PROBLEM TO BE SOLVED: To provide welding equipment by which weld abnormality can be made to be hard to occur when restarting from a temporary stop in the middle of welding by the operation of one device or more such as a robot, a positioner. SOLUTION: When welding a cylindrical member 1b to a disk-shaped base material 1a mounted and fixed on the positioner 3 by a torch 2 mounted at the tip of the robot 4 while rotating the positioner 3 toward a weld finishing point P2 from a weld starting point P1, after starting welding working at the weld starting point P1 as shown in a figure 1(a), when a robot controller 5 and the positioner 3 have been temporarily stopped by any reason at a point Pt which is in the middle of the weld starting point P1 and the weld finishing point P2 as shown in the same figure (b), a weld restarting point Ps obtained by moving in a weld starting point P1 direction on a weld line when restarting, is found to avoid the weld abnormality such as no arc, as shown in a figure 1(c). The positioner 3 is moved until the torch 2 reaches this weld restarting point Ps, and after the torch 2 has reached the weld restarting point Ps, welding is restarted from here toward the weld finishing point P2.