{HEAD ~ a data obtaining section} for obtaining {TAIL ~ a plurality} of position and orientation data at a plurality of different teaching points previously taught and included in said welding operation program 
{ HEAD ~ a data obtaining section } for obtaining { TAIL ~ a plurality } of position and orientation data at a plurality of different teaching points previously taught and included in said welding operation program
HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL REL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH