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Pipeline welding is one of the most significant applications of GMAW process. Automatic welding for pipelines has been developed from early 1970’s. In these systems the welding robot moves around the two pipe's seam and welds the pipes by arc welding machine. Depending on the pipe thickness, weld process is repeated in several passes while the seam is filled of weld mass. The automatic pipeline welding systems has been recently paid more attention [1, 2]. In order to achieve sufficient performance in the process, the input parameters must be chosen correctly [3]. Welding parameter designing is a complicated step in the GMAW process, because of the large number of parameters and complexity of dynamic behavior. This complexity is particularly intensified in automatic pipeline systems, because of the complex seam geometry, wide range of the angle variations and strict quality requirements [1]. The most important input parameters in the automatic pipeline GMAW process are: welding current, arc voltage, travel speed, wire feeding speed, Contact Tube to Workpiece Distance (CTWD), welding position (angle), gas type, pipe type/thickness and seam geometry [4, 5]. The output parameters of the process are usually defined as either mechanical properties or weld bead geometry [6]. Weld bead geometry method considers the relationships between the input parameters and weld bead dimensions (penetration, width, reinforcement height, and width to penetration ratio and dilution [3, 7, 8]. Appropriate melting of the seam walls is certainly one of the most important conditions to achieve a proper dimension in fusion zone. A fusion zone with a sufficient width is necessary to prevent from some defects like lack of Fusion (LOF) [9, 10]. Having a direct contact between the arc and seam walls and receiving enough energy to the walls led to suitable wall melting and appropriate fusion zone [11, 12]. Some criteria such as heat input are related to the total energy which is given to the weld region without considering the amount of energy required to melt the wire. Principal parameters to calculate the heat input value are: welding current, arc voltage, travel speed and welding efficiency [11, 13]. During the welding process, part of the arc energy is spent to melt the wire [12]. Seam geometry also plays an important role in the amount of arc energy that directly reaches the walls. However a more general formula is not yet introduced.

WHI Formula as a New Criterion in Automatic Pipeline GMAW Process