an angle calculating section for calculating a plurality of angle data representing said geometric placement of said {HEAD ~ arc} welding {TAIL ~ torch} at every teaching points, by using said plurality of position and orientation data obtained in said data obtaining section and said virtual reference plane set in said reference plane setting section; and 
welding
an angle calculating section for calculating a plurality of angle data representing said geometric placement of said { HEAD ~ arc } welding { TAIL ~ torch } at every teaching points , by using said plurality of position and orientation data obtained in said data obtaining section and said virtual reference plane set in said reference plane setting section ; and
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