Abstract: Friction stirred welding equipment, developed according to requirements of high reliability, robustness, precision and low cost, weld lap and butt joints in complex surfaces with fixed pin tool under controlled downforce. Exemplary equipment comprises a control force orbital spindle, wherein a coaxial sensor measures the downforce and simultaneously the axial electrical actuator corrects axial tool position along the welding, by a direct axial force system control, in order to maintain controlled downforce according to previously set parameters. The equipment sets up, monitors and controls the spindle rotation speed, welding speed, acceleration speed and downforce and can record in a database the downforce and tool welding position during the welding.