CN114833431A - Pulse welding burn-back control method and device - Google Patents
Pulse welding burn-back control method and device Download PDFInfo
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- CN114833431A CN114833431A CN202210664380.3A CN202210664380A CN114833431A CN 114833431 A CN114833431 A CN 114833431A CN 202210664380 A CN202210664380 A CN 202210664380A CN 114833431 A CN114833431 A CN 114833431A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/16—Arc welding or cutting making use of shielding gas
- B23K9/173—Arc welding or cutting making use of shielding gas and of a consumable electrode
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/09—Arrangements or circuits for arc welding with pulsed current or voltage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/124—Circuits or methods for feeding welding wire
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Abstract
The invention provides a pulse welding burn-back control method and a device, wherein the method comprises the following steps: determining whether a preset inductor exists in a welding loop; if the preset inductance exists in the welding loop, determining the wire feeding acceleration braked by the wire feeding motor in the burn-back stage according to the pulse current given by the welding power supply in the main welding stage and the actual pulse current; and controlling the welding power supply to carry out the burn-back treatment according to the wire feeding acceleration braked by the wire feeding motor in the determined burn-back stage. The wire feeding acceleration braked by the wire feeding motor in the burn-back stage is determined according to the pulse current and the actual pulse current given by the welding power supply in the main welding stage, burn-back processing is carried out at the acceleration, and when large inductance exists in a welding loop, the energy in the burn-back stage influenced by inductance can be matched, so that welding wires are prevented from adhering to a welding seam.
Description
Technical Field
The invention relates to the technical field of welding, in particular to a pulse welding burn-back control method and device.
Background
The gas metal arc welding sequence can be divided into three stages, namely an arc striking stage, a main welding stage and a burn-back stage. The burn-back stage is that the welding power supply outputs certain energy to the welding wire which is about to end the welding period, and burn-back treatment is carried out on the welding wire which is slowly fed in so as to prevent the welding wire from adhering to a welding seam. Generally speaking, the burn-back energy output by the welding power supply is enough to melt the welding wire, and the welding wire cannot be adhered to the welding seam, but when the welding loop has larger inductance, for example, the welding ground wire is more than 30m, and some ground wires are in a coil state, the loop has larger inductance, the burn-back effect of pulse welding can be seriously influenced, and the welding burn-back energy is insufficient at the moment, so that the problem that the welding wire often has the adhered welding seam can be caused.
Disclosure of Invention
The invention aims to provide a pulse welding burn-back control method and device capable of avoiding welding wires from adhering to welding seams.
In order to achieve the above object, the present invention provides a pulse welding burn-back control method, which comprises:
determining whether a preset inductor exists in a welding loop;
if the preset inductance exists in the welding loop, determining the wire feeding acceleration braked by the wire feeding motor in the burn-back stage according to the pulse current given by the welding power supply in the main welding stage and the actual pulse current;
and controlling the welding power supply to carry out the burn-back treatment according to the wire feeding acceleration braked by the wire feeding motor in the determined burn-back stage.
The invention also provides a pulse welding burn-back control device, which is used for avoiding the welding wire from adhering to the welding seam and comprises the following components:
the inductance determining module is used for determining whether a preset inductance exists in the welding loop;
the braking acceleration calculation module is used for determining the wire feeding acceleration braked by the wire feeding motor in the burn-back stage according to the pulse current given by the welding power supply in the main welding stage and the actual pulse current if the preset inductance exists in the welding loop;
and the first burn-back control module is used for controlling the welding power supply to carry out burn-back treatment according to the wire feeding acceleration braked by the wire feeding motor in the determined burn-back stage.
The invention also provides computer equipment, a processor suitable for realizing all instructions and a storage device, wherein the storage device stores a plurality of instructions, and the instructions are suitable for being loaded by the processor and executing the pulse welding burn-back control method.
The present invention also provides a computer-readable storage medium storing a computer program for executing the pulse welding burn-back control method described above.
The present invention also provides a computer program product comprising a computer program which, when executed by a processor, implements the pulse welding burn-back control method described above.
The embodiment of the invention determines whether the welding loop has the preset inductance or not; if the preset inductance exists in the welding loop, determining the wire feeding acceleration braked by the wire feeding motor in the burn-back stage according to the pulse current given by the welding power supply in the main welding stage and the actual pulse current; and controlling the welding power supply to carry out the burn-back treatment according to the wire feeding acceleration braked by the wire feeding motor in the determined burn-back stage. The wire feeding acceleration braked by the wire feeding motor in the burn-back stage is determined according to the pulse current and the actual pulse current given by the welding power supply in the main welding stage, burn-back processing is carried out at the acceleration, and when large inductance exists in a welding loop, the energy in the burn-back stage influenced by inductance can be matched, so that welding wires are prevented from adhering to a welding seam.
Drawings
The drawings are only for purposes of illustrating and explaining the present invention and are not to be construed as limiting the scope of the present invention. Wherein:
FIG. 1 is a schematic diagram of an implementation process of a pulse welding burn-back control method according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a pulse welding burn-back control method according to an embodiment of the present invention;
FIG. 3 is a schematic view of a welding circuit according to an embodiment of the present invention;
FIG. 4 is a schematic illustration of pulsed current variation and wire feed speed variation for an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a pulse welding burn-back control apparatus according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a pulse welding burn-back control apparatus in accordance with an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a computer device in an embodiment of the present invention.
Detailed Description
The present application is described in further detail below with reference to the figures and examples. The features and advantages of the present application will become more apparent from the description.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
In addition, the technical features described below in the different embodiments of the present application may be combined with each other as long as they do not conflict with each other.
The embodiment of the invention provides a pulse welding burn-back control method for improving welding quality, which is shown in figure 1 and comprises the following steps:
step 101: determining whether a preset inductor exists in a welding loop;
step 102: if the preset inductance exists in the welding loop, determining the wire feeding acceleration braked by the wire feeding motor in the burn-back stage according to the pulse current given by the welding power supply in the main welding stage and the actual pulse current;
step 103: and controlling the welding power supply to carry out the burn-back treatment according to the wire feeding acceleration braked by the wire feeding motor in the determined burn-back stage.
As can be seen from the above process, the embodiment of the present invention determines whether a preset inductance exists in the welding loop; if the preset inductance exists in the welding loop, determining the wire feeding acceleration of the wire feeding motor brake in the burn-back stage according to the pulse current given by the welding power supply in the main welding stage and the actual pulse current; and controlling the welding power supply to carry out the burn-back treatment according to the wire feeding acceleration braked by the wire feeding motor in the determined burn-back stage. The wire feeding acceleration braked by the wire feeding motor in the burn-back stage is determined according to the pulse current and the actual pulse current given by the welding power supply in the main welding stage, burn-back processing is carried out at the acceleration, and when large inductance exists in a welding loop, the energy in the burn-back stage influenced by inductance can be matched, so that welding wires are prevented from adhering to a welding seam.
First, it is determined whether a preset inductance is present in the welding loop. In the existing method, because the welding return circuit has a large inductance, the situation of insufficient energy of welding burn-back can occur, and therefore, whether the welding return circuit has the large inductance needs to be judged at first. In specific implementation, the preset inductance refers to an inductance with an inductance value larger than a preset value, and the preset value is set according to actual needs, for example, may be set to 200 μ H. It will be understood by those skilled in the art that this value is merely exemplary and is not intended to limit the scope of the present invention.
And if the preset inductance exists in the welding loop, determining the wire feeding acceleration of the wire feeding motor brake in the burn-back stage according to the pulse current given by the welding power supply in the main welding stage and the actual pulse current. In specific implementation, the wire feeding acceleration braked by the wire feeding motor in the burn-back stage is determined according to the current change rate of the pulse current given by the welding power supply in the main welding stage, the current change rate of the actual pulse current and the wire feeding braking acceleration of the wire feeding machine given by the welding power supply.
In a specific embodiment, the wire feed acceleration of the wire feeder motor brake during the burn-back phase is determined based on the rate of change of the current of the pulsed current given by the welding power supply during the primary welding phase, the rate of change of the current of the actual pulsed current, and the wire feeder brake wire feed acceleration given by the welding power supply, according to the following formula:
a 1 ＝a 0 +k×(di 1 /dt-di 2 /dt)
wherein, a 1 Wire feed acceleration, m/s, of wire feed motor braking representing burn-back phase 2 ；A 0 Representing wire feeder braking wire feed acceleration, m/s, given by the welding power supply 2 (ii) a k represents sendThe braking adjustment coefficient of the wire motor, m/(A.s); i.e. i 1 Represents a pulse current given by a welding power supply in a main welding stage, A; di 1 Dt represents the rate of change of current for a given pulse current of the welding power source during the main welding phase; i.e. i 2 Represents the actual pulse current, a; di 2 The current rate of change of the actual pulse current is represented by/dt; t represents time, s.
Wherein di 1 Dt and di 2 The current change rate of the pulse current given by the welding power source in the main welding stage is the current change rate in the rising stage of the given pulse current waveform, and the current change rate of the actual pulse current is the current change rate in the rising stage of the actual pulse current waveform;
or the current change rate of the pulse current given by the welding power source in the main welding stage is the current change rate in the given pulse current waveform falling stage, and the current change rate of the actual pulse current is the current change rate in the actual pulse current waveform falling stage.
And after the wire feeding acceleration braked by the wire feeding motor in the burn-back stage is determined, controlling the welding power supply to carry out burn-back treatment according to the determined wire feeding acceleration braked by the wire feeding motor in the burn-back stage. The specific process comprises the following steps: and controlling the welding power supply to adjust the wire feeding acceleration braked by the wire feeding motor to be the wire feeding acceleration braked by the wire feeding motor in the determined burn-back stage, so that the wire feeding speed of the wire feeding motor is gradually reduced to zero.
The specific embodiment of the present invention further provides a pulse welding burn-back control method, as shown in fig. 2, on the basis of fig. 1, further comprising:
step 201: if the welding loop does not have the preset inductance, the wire feeder is braked to feed the wire with the acceleration given by the welding power supply, and the burn-back treatment is carried out.
Namely, no large inductance exists in the welding loop, and the wire feeding motor is controlled to brake only by the wire feeding machine braking wire feeding acceleration given by the welding power supply until the wire feeding speed is reduced to 0.
Also provided in an embodiment of the present invention is an embodiment of a welding circuit schematic, as shown in FIG. 3, including a welding power source, a wire feeder, and an inductive load.
As shown in FIG. 4, during the burn-back phase, the welding power source may be given a wire feeder brake wire feed acceleration of a 0 During normal welding (i.e. when there is no large inductance in the welding loop), the motor of the wire feeder will be a 0 The acceleration begins to brake such that the wire feed speed of the wire feeder is reduced from the primary welding wire feed speed v1 to 0 and the energy of the welding power supply burn back is output as given.
When there is a large inductive load in the welding loop, as shown in FIG. 4, the braking acceleration of the wire feeder during the burn-back phase is adjusted to a 1 . The current change rate of a pulse current waveform given by a welding power supply in a rising phase or a falling phase is di 1 Dt, the rate of change of the current in the rising or falling phase of the pulse current waveform in the actual welding circuit is di 2 And dt, the braking acceleration of the wire feeder in the burn-back stage is as follows: a is 1 ＝a 0 +k×(di 1 /dt-di 2 Dt). The pulse current change rates in the formula are all calculated in an ascending stage or a descending stage, but cannot be calculated by using values of different stages.
Based on the same inventive concept, an embodiment of the present invention further provides a pulse welding burn-back control device, the principle of the problem to be solved is similar to the pulse welding burn-back control method, repeated parts are not repeated, and the specific structure is shown in fig. 5, and includes:
an inductance determining module 501, configured to determine whether a preset inductance exists in a welding loop;
a braking acceleration calculation module 502, configured to determine, if a preset inductance exists in the welding loop, a wire feeding acceleration braked by the wire feeding motor in the burn-back stage according to a pulse current and an actual pulse current given by the welding power supply in the main welding stage;
and the first burn-back control module 503 is configured to control the welding power supply to perform burn-back processing according to the wire feeding acceleration of the wire feeding motor brake at the determined burn-back stage.
The pulse welding burn-back control device provided in an embodiment, as shown in fig. 6, further includes, on the basis of fig. 5:
a second burn-back control module 601, configured to:
and if the welding loop does not have the preset inductance, braking the wire feeding acceleration of the wire feeder according to the welding power supply, and performing burn-back treatment.
In an embodiment, the braking acceleration calculating module 502 is specifically configured to:
and determining the wire feeding acceleration braked by the wire feeding motor in the burn-back stage according to the current change rate of the pulse current given by the welding power supply in the main welding stage, the current change rate of the actual pulse current and the wire feeding braked acceleration of the wire feeder given by the welding power supply.
In specific implementation, the first burn-back control module 503 is specifically configured to:
and controlling the welding power supply to adjust the wire feeding acceleration braked by the wire feeding motor to be the wire feeding acceleration braked by the wire feeding motor in the determined burn-back stage, so that the wire feeding speed of the wire feeding motor is gradually reduced to zero.
An embodiment of the present invention further provides a computer device, and fig. 7 is a schematic diagram of the computer device in the embodiment of the present invention, where the computer device is capable of implementing all steps in the pulse welding burn-back control method in the embodiment, and the computer device specifically includes the following contents:
a processor (processor)701, a memory (memory)702, a communication Interface (Communications Interface)703, and a communication bus 704;
the processor 701, the memory 702 and the communication interface 703 complete mutual communication through the communication bus 704; the communication interface 703 is used for implementing information transmission between related devices;
the processor 701 is configured to call a computer program in the memory 702, and when the processor executes the computer program, the pulse welding burn-back control method in the above embodiment is implemented.
The embodiment of the invention also provides a computer readable storage medium, wherein a computer program is stored in the computer readable storage medium, and when the computer program is executed by a processor, the pulse welding burn-back control method is realized.
An embodiment of the present invention further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the method for controlling pulse welding burn-back is implemented.
The pulse welding burn-back control method and the pulse welding burn-back control device provided by the specific embodiment have the following advantages:
determining whether a preset inductance exists in a welding loop; if the preset inductance exists in the welding loop, determining the wire feeding acceleration braked by the wire feeding motor in the burn-back stage according to the pulse current given by the welding power supply in the main welding stage and the actual pulse current; and controlling the welding power supply to carry out the burn-back treatment according to the wire feeding acceleration braked by the wire feeding motor in the determined burn-back stage. The wire feeding acceleration of the braking of the wire feeding motor in the burn-back stage is determined according to the pulse current and the actual pulse current given by the welding power supply in the main welding stage, burn-back processing is carried out at the acceleration, and when large inductance exists in a welding loop, the energy in the burn-back stage influenced by inductance is matched, so that welding wires are prevented from adhering to a welding seam, and the welding quality is improved.
Although the present invention provides method steps as described in the examples or flowcharts, more or fewer steps may be included based on routine or non-inventive labor. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. When an actual apparatus or client product executes, it may execute sequentially or in parallel (e.g., in the context of parallel processors or multi-threaded processing) according to the embodiments or methods shown in the figures.
As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, apparatus (system) or computer program product. Accordingly, embodiments of the present description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment. In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention is not limited to any single aspect, nor is it limited to any single embodiment, nor is it limited to any combination and/or permutation of these aspects and/or embodiments. Moreover, each aspect and/or embodiment of the present invention may be utilized alone or in combination with one or more other aspects and/or embodiments thereof.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (13)
1. A pulse welding burn-back control method is characterized by comprising the following steps:
determining whether a preset inductor exists in a welding loop;
if the preset inductance exists in the welding loop, determining the wire feeding acceleration braked by the wire feeding motor in the burn-back stage according to the pulse current given by the welding power supply in the main welding stage and the actual pulse current;
and controlling the welding power supply to carry out the burn-back treatment according to the wire feeding acceleration braked by the wire feeding motor in the determined burn-back stage.
2. The pulse welding burn-back control method according to claim 1, further comprising:
if the welding loop does not have the preset inductance, the wire feeder is braked to feed the wire with the acceleration given by the welding power supply, and the burn-back treatment is carried out.
3. The pulse welding burn-back control method of claim 2, wherein determining a wire feed acceleration of the wire feed motor brake during the burn-back phase based on the pulse current and the actual pulse current given by the welding power source during the primary welding phase comprises:
and determining the wire feeding acceleration braked by the wire feeding motor in the burn-back stage according to the current change rate of the pulse current given by the welding power supply in the main welding stage, the current change rate of the actual pulse current and the wire feeding braked acceleration of the wire feeder given by the welding power supply.
4. The pulse welding burn-back control method of claim 1, wherein the wire feed motor braked wire feed acceleration during the burn-back phase is determined based on the rate of change of current for the pulsed current given by the welding power supply during the main welding phase, the rate of change of current for the actual pulsed current, and the wire feeder braked wire feed acceleration given by the welding power supply according to the following equation:
a 1 ＝a 0 +k×(di 1 /dt-di 2 /dt)
wherein, a 1 A wire feed acceleration representing wire feed motor braking during a burn-back phase; a is 0 A wire feeder braking wire feed acceleration given on behalf of the welding power source; k represents the braking adjustment coefficient of the wire feeding motor; i.e. i 1 Representing a pulse current given by the welding power source during the main welding phase; di 1 Dt represents the rate of change of current for a given pulse current of the welding power source during the main welding phase; i.e. i 2 Representing the actual pulse current; di 2 The current rate of change of the actual pulse current is represented by/dt; t represents time.
5. A pulse welding burn-back control method according to claim 3 or 4, wherein the current change rate of the pulse current given by the welding power source in the main welding phase is a current change rate at a given pulse current waveform rising phase, and the current change rate of the actual pulse current is a current change rate at an actual pulse current waveform rising phase;
or the current change rate of the pulse current given by the welding power source in the main welding stage is the current change rate in the given pulse current waveform descending stage, and the current change rate of the actual pulse current is the current change rate in the actual pulse current waveform descending stage.
6. The pulse welding burn-back control method of claim 1, wherein controlling the welding power supply to perform a burn-back process based on the wire feed acceleration of the wire feed motor brake during the determined burn-back phase comprises:
and controlling the welding power supply to adjust the wire feeding acceleration braked by the wire feeding motor to be the wire feeding acceleration braked by the wire feeding motor in the determined burn-back stage, so that the wire feeding speed of the wire feeding motor is gradually reduced to zero.
7. A pulse welding burn-back control device, comprising:
the inductance determining module is used for determining whether a preset inductance exists in the welding loop;
the braking acceleration calculation module is used for determining the wire feeding acceleration braked by the wire feeding motor in the burn-back stage according to the pulse current given by the welding power supply in the main welding stage and the actual pulse current if the preset inductance exists in the welding loop;
and the first burn-back control module is used for controlling the welding power supply to carry out burn-back treatment according to the wire feeding acceleration of the wire feeding motor brake in the determined burn-back stage.
8. The pulse welding burn-back control device of claim 7, further comprising:
a second burn-back control module for:
and if the welding loop does not have the preset inductance, braking the wire feeding acceleration of the wire feeder according to the welding power supply, and performing burn-back treatment.
9. The pulse welding burn-back control device of claim 8, wherein the braking acceleration calculation module is specifically configured to:
and determining the wire feeding acceleration braked by the wire feeding motor in the burn-back stage according to the current change rate of the pulse current given by the welding power supply in the main welding stage, the current change rate of the actual pulse current and the wire feeding braked acceleration of the wire feeder given by the welding power supply.
10. The pulse welding burn-back control device according to claim 7, wherein the first burn-back control module is specifically configured to:
and controlling the welding power supply to adjust the wire feeding acceleration braked by the wire feeding motor to be the wire feeding acceleration braked by the wire feeding motor in the determined burn-back stage, so that the wire feeding speed of the wire feeding motor is gradually reduced to zero.
11. A computer device, characterized in that the computer device comprises: a processor adapted to implement instructions and a storage device having stored thereon instructions adapted to be loaded by the processor and to execute the pulse welding burn-back control method of any of claims 1 to 6.
12. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program for executing the pulse welding burn-back control method according to any one of claims 1 to 6.
13. A computer program product, characterized in that the computer program product comprises a computer program which, when being executed by a processor, implements the pulse welding burn-back control method of any one of claims 1 to 6.
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