Abstract: A method and a device for providing feedback on weaving parameters in connection with programming an industrial robot provided with a tool to perform a weaving movement. The device includes a simulation unit receiving the weaving parameters and on basis thereof performing a simulation of the weaving movement with a mathematical model of the weaving movements, a graphical unit receiving the calculated trace and on basis thereof producing a graphical representation of the weaving movement, and a display unit displaying the graphical representation of the weaving movement.

Abstract: A method for controlling an arc welding equipment (21) used in a welding operation and adjustable by varying at least one welding parameter value, comprising the steps of determining said at least one welding parameter while using a theoretical model (24) of the welding process associated with the welding operation, and controlling the operation of the welding equipment and the welding process associated therewith by using said at least one welding parameter for adjusting the welding equipment and a device comprising an arc welding equipment (21) used in a welding operation and adjustable by varying at least one welding parameter and an arrangement (22) for controlling the operation of the arc welding equipment, said control arrangement including a means (23) adapted to determine the value of said at least one welding parameter while using a theoretical model (24) of the welding process, and a member (25) adapted to control the operation of the welding equipment and the welding process associated therewith by